Rename Odometry Class to SteeringKinematics

[kumar-sanjeeev]

This draft PR includes the following changes:

• Renamed the Odometry class to SteeringKinematics to better represent its support for both FK and IK.
• Added deprecation warnings in the old steering_odometry.hpp header file to maintain backward compatibility.
• Updated comments in the header file to reflect the new class name.

[codecov]

Codecov Report

❌ Patch coverage is 95.18072% with 4 lines in your changes missing coverage. Please review.
✅ Project coverage is 85.32%. Comparing base (c38468c) to head (79cd0ed).

Files with missing lines	Patch %	Lines
...ng_controllers_library/src/steering_kinematics.cpp	81.81%	4 Missing ⚠️

Additional details and impacted files

@@           Coverage Diff           @@
##           master    #1996   +/-   ##
=======================================
  Coverage   85.32%   85.32%           
=======================================
  Files         143      143           
  Lines       13934    13934           
  Branches     1201     1201           
=======================================
  Hits        11889    11889           
  Misses       1638     1638           
  Partials      407      407           

Flag	Coverage Δ
unittests	85.32% <95.18%> (ø)

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines	Coverage Δ
...g_controller/src/ackermann_steering_controller.cpp	81.57% <100.00%> (ø)
...ing_controller/src/bicycle_steering_controller.cpp	76.92% <100.00%> (ø)
...eering_controllers_library/steering_kinematics.hpp	100.00% <100.00%> (ø)
...llers_library/src/steering_controllers_library.cpp	68.40% <100.00%> (ø)
...library/test/test_steering_controllers_library.hpp	97.43% <100.00%> (ø)
...ontrollers_library/test/test_steering_odometry.cpp	100.00% <100.00%> (ø)
...ng_controller/src/tricycle_steering_controller.cpp	81.25% <100.00%> (ø)
...ng_controllers_library/src/steering_kinematics.cpp	83.42% <81.81%> (ø)

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[kumar-sanjeeev]

Hi @christophfroehlich,

I am unable to figure out why the Rolling-ABI CI/CD check is failing, however it builds fine locally. Also, I have updated the header files in all locations where steering_odometry.hpp was used to suppress the deprecation warnings.

[christophfroehlich]

Hi @christophfroehlich,

I am unable to figure out why the Rolling-ABI CI/CD check is failing, however it builds fine locally. Also, I have updated the header files in all locations where steering_odometry.hpp was used to suppress the deprecation warnings.

You are changing the ABI with your PR, so this test is supposed to fail. See the test report. Instead of using type aliases, you could leave the old methods but just call the new one from inside. This should leave ABI untouched.
The current state is fine for rolling, but if we backport this ABI break here is subject for discussion.

[kumar-sanjeeev]

Hi @christophfroehlich,
I am unable to figure out why the Rolling-ABI CI/CD check is failing, however it builds fine locally. Also, I have updated the header files in all locations where steering_odometry.hpp was used to suppress the deprecation warnings.

You are changing the ABI with your PR, so this test is supposed to fail. See the test report. Instead of using type aliases, you could leave the old methods but just call the new one from inside. This should leave ABI untouched. The current state is fine for rolling, but if we backport this ABI break here is subject for discussion.

I understand the concern, and I also liked your idea to prevent the ABI check from failing. Regarding your suggestion Instead of using type aliases, you could leave the old methods but just call the new one from inside, should I start working on this, or wait for further discussion?