mrpt::slam::CObservationOdometry Class Reference

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

#include <mrpt/slam/CObservationOdometry.h>

Inheritance diagram for mrpt::slam::CObservationOdometry:

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Collaboration diagram for mrpt::slam::CObservationOdometry:

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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

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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.

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Constructor & Destructor Documentation

mrpt::slam::CObservationOdometry::CObservationOdometry

(

)

Constructor.

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Member Function Documentation

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.

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Member Data Documentation

int32_t mrpt::slam::CObservationOdometry::encoderLeftTicks

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.

int32_t mrpt::slam::CObservationOdometry::encoderRightTicks

Definition at line 66 of file CObservationOdometry.h.

bool mrpt::slam::CObservationOdometry::hasEncodersInfo

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

Definition at line 61 of file CObservationOdometry.h.

bool mrpt::slam::CObservationOdometry::hasVelocities

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

Definition at line 68 of file CObservationOdometry.h.

poses::CPose2D mrpt::slam::CObservationOdometry::odometry

The absolute odometry measurement (IT IS NOT INCREMENTAL).

Definition at line 59 of file CObservationOdometry.h.

float mrpt::slam::CObservationOdometry::velocityAng

Definition at line 72 of file CObservationOdometry.h.

float mrpt::slam::CObservationOdometry::velocityLin

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

Definition at line 72 of file CObservationOdometry.h.