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mrpt::slam::CObservationOdometry Class Reference


Detailed Description

An observation of the current (cumulative) odometry for a wheeled robot.

This kind of observation will only occur in a "observation-only" rawlog file, otherwise odometry are modeled with actions. Refer to the page on rawlogs.

See also:
CObservation, CActionRobotMovement2D

Definition at line 49 of file CObservationOdometry.h.

#include <mrpt/slam/CObservationOdometry.h>

Inheritance diagram for mrpt::slam::CObservationOdometry:
Inheritance graph
[legend]

List of all members.

Public Member Functions

 CObservationOdometry ()
 Constructor.
void getSensorPose (CPose3D &out_sensorPose) const
 A general method to retrieve the sensor pose on the robot.
void setSensorPose (const CPose3D &)
 A general method to change the sensor pose on the robot.

Public Attributes

poses::CPose2D odometry
 The absolute odometry measurement (IT IS NOT INCREMENTAL)
bool hasEncodersInfo
 "true" means that "encoderLeftTicks" and "encoderRightTicks" contain valid values.
int32_t encoderLeftTicks
 For odometry only: the ticks count for each wheel in ABSOLUTE VALUE (IT IS NOT INCREMENTAL) (positive means FORWARD, for both wheels);.
int32_t encoderRightTicks
bool hasVelocities
 "true" means that "velocityLin" and "velocityAng" contain valid values.
float velocityLin
 The velocity of the robot, linear in meters/sec and angular in rad/sec.
float velocityAng

RTTI stuff

typedef CObservationOdometryPtr SmartPtr
static mrpt::utils::CLASSINIT _init_CObservationOdometry
static mrpt::utils::TRuntimeClassId classCObservationOdometry
static const
mrpt::utils::TRuntimeClassId
classinfo
static const
mrpt::utils::TRuntimeClassId
_GetBaseClass ()
virtual const
mrpt::utils::TRuntimeClassId
GetRuntimeClass () const
 Returns information about the class of an object in runtime.
virtual mrpt::utils::CObjectduplicate () const
 Returns a copy of the object, indepently of its class.
static mrpt::utils::CObjectCreateObject ()
static CObservationOdometryPtr Create ()

Member Typedef Documentation

A typedef for the associated smart pointer

Definition at line 52 of file CObservationOdometry.h.


Constructor & Destructor Documentation

mrpt::slam::CObservationOdometry::CObservationOdometry (  )

Constructor.


Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::slam::CObservationOdometry::_GetBaseClass (  ) [static, protected]

Reimplemented from mrpt::slam::CObservation.

static CObservationOdometryPtr mrpt::slam::CObservationOdometry::Create (  ) [static]
static mrpt::utils::CObject* mrpt::slam::CObservationOdometry::CreateObject (  ) [static]
virtual mrpt::utils::CObject* mrpt::slam::CObservationOdometry::duplicate (  ) const [virtual]

Returns a copy of the object, indepently of its class.

Implements mrpt::utils::CObject.

virtual const mrpt::utils::TRuntimeClassId* mrpt::slam::CObservationOdometry::GetRuntimeClass (  ) const [virtual]

Returns information about the class of an object in runtime.

Reimplemented from mrpt::slam::CObservation.

void mrpt::slam::CObservationOdometry::getSensorPose ( CPose3D out_sensorPose ) const [inline, virtual]

A general method to retrieve the sensor pose on the robot.

It has no effects in this class

See also:
setSensorPose

Implements mrpt::slam::CObservation.

Definition at line 79 of file CObservationOdometry.h.

void mrpt::slam::CObservationOdometry::setSensorPose ( const CPose3D  ) [inline, virtual]

A general method to change the sensor pose on the robot.

It has no effects in this class

See also:
getSensorPose

Implements mrpt::slam::CObservation.

Definition at line 85 of file CObservationOdometry.h.


Member Data Documentation

Definition at line 52 of file CObservationOdometry.h.

Definition at line 52 of file CObservationOdometry.h.

Definition at line 52 of file CObservationOdometry.h.

For odometry only: the ticks count for each wheel in ABSOLUTE VALUE (IT IS NOT INCREMENTAL) (positive means FORWARD, for both wheels);.

See also:
hasEncodersInfo

Definition at line 66 of file CObservationOdometry.h.

Definition at line 66 of file CObservationOdometry.h.

"true" means that "encoderLeftTicks" and "encoderRightTicks" contain valid values.

Definition at line 61 of file CObservationOdometry.h.

"true" means that "velocityLin" and "velocityAng" contain valid values.

Definition at line 68 of file CObservationOdometry.h.

The absolute odometry measurement (IT IS NOT INCREMENTAL)

Definition at line 59 of file CObservationOdometry.h.

Definition at line 72 of file CObservationOdometry.h.

The velocity of the robot, linear in meters/sec and angular in rad/sec.

Definition at line 72 of file CObservationOdometry.h.




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