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.
Definition at line 49 of file CObservationOdometry.h.
#include <mrpt/slam/CObservationOdometry.h>
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::CObject * | duplicate () const |
Returns a copy of the object, indepently of its class. | |
static mrpt::utils::CObject * | CreateObject () |
static CObservationOdometryPtr | Create () |
A typedef for the associated smart pointer
Definition at line 52 of file CObservationOdometry.h.
mrpt::slam::CObservationOdometry::CObservationOdometry | ( | ) |
Constructor.
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
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
Implements mrpt::slam::CObservation.
Definition at line 85 of file CObservationOdometry.h.
mrpt::utils::CLASSINIT mrpt::slam::CObservationOdometry::_init_CObservationOdometry [static, protected] |
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);.
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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