initialize_odometry_command.h

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#pragma once
 
#include <frc/geometry/Pose2d.h>
#include <frc2/command/CommandBase.h>
#include <frc2/command/CommandHelper.h>
 
#include "subsystems/swerve_drive_subsystem.h"
 
class InitializeOdometryCommand : public frc2::CommandHelper<frc2::CommandBase, InitializeOdometryCommand> {
 public:
  InitializeOdometryCommand(SwerveDriveSubsystem* pDrive, frc::Pose2d initialPose);
 
  void Initialize() override;
 
  void Execute() override;
 
  void End(bool interrupted) override;
 
  bool IsFinished() override;
 
 private:
  SwerveDriveSubsystem* m_pDrive;
  frc::Pose2d m_initialPose;
};