New Diff Drive suite with sensor self-calibration

include/core/capture/capture_diff_drive.h

+/**
+ * \file diff_drive_tools.h
+ *
+ *  Created on: Oct 20, 2016
+ *  \author: Jeremie Deray
+ */
+
+#ifndef CAPTURE_DIFF_DRIVE_H_
+#define CAPTURE_DIFF_DRIVE_H_
+
+//wolf includes
+#include "core/capture/capture_motion.h"
+
+namespace wolf {
+
+WOLF_PTR_TYPEDEFS(CaptureDiffDrive)
+
+/**
+ * @brief The CaptureWheelJointPosition class
+ *
+ * Represents a list of wheel positions in radian.
+ */
+class CaptureDiffDrive : public CaptureMotion
+{
+
+public:
+
+        /**
+         * \brief Constructor
+         **/
+        CaptureDiffDrive(const TimeStamp& _ts,
+                         const SensorBasePtr& _sensor_ptr,
+                         const Eigen::VectorXs& _data,
+                         const Eigen::MatrixXs& _data_cov,
+                         FrameBasePtr _origin_frame_ptr,
+                         StateBlockPtr _p_ptr = nullptr,
+                         StateBlockPtr _o_ptr = nullptr,
+                         StateBlockPtr _intr_ptr = nullptr);
+
+        virtual ~CaptureDiffDrive() = default;
+
+        virtual Eigen::VectorXs correctDelta(const VectorXs& _delta, const VectorXs& _delta_error) const override;
+
+};
+
+} // namespace wolf
+
+#endif /* CAPTURE_DIFF_DRIVE_H_ */