class mrpt::obs::CObservationOdometry

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

#include <mrpt/obs/CObservationOdometry.h>

class CObservationOdometry: public mrpt::obs::CObservation
{
public:
    //
fields

    mrpt::poses::CPose2D odometry;
    bool hasEncodersInfo {false};
    int32_t encoderLeftTicks {0};
    int32_t encoderRightTicks {0};
    bool hasVelocities {false};
    mrpt::math::TTwist2D velocityLocal;

    //
methods

    virtual void getSensorPose(mrpt::poses::CPose3D& out_sensorPose) const;
    virtual void setSensorPose(const mrpt::poses::CPose3D& newSensorPose);
    virtual void getDescriptionAsText(std::ostream& o) const;
};

Inherited Members

public:
    //
fields

    mrpt::system::TTimeStamp timestamp {mrpt::system::now()};
    std::string sensorLabel;

    //
methods

    mrpt::system::TTimeStamp getTimeStamp() const;
    virtual mrpt::system::TTimeStamp getOriginalReceivedTimeStamp() const;
    virtual void load() const;
    virtual void unload();

    template <class METRICMAP>
    bool insertObservationInto(
        METRICMAP* theMap,
        const mrpt::poses::CPose3D* robotPose = nullptr
        ) const;

    virtual void getSensorPose(mrpt::poses::CPose3D& out_sensorPose) const = 0;
    void getSensorPose(mrpt::math::TPose3D& out_sensorPose) const;
    virtual void setSensorPose(const mrpt::poses::CPose3D& newSensorPose) = 0;
    void setSensorPose(const mrpt::math::TPose3D& newSensorPose);
    virtual void getDescriptionAsText(std::ostream& o) const;
    std::string getDescriptionAsTextValue() const;

Fields

mrpt::poses::CPose2D odometry

The absolute odometry measurement (IT IS NOT INCREMENTAL)

bool hasEncodersInfo {false}

“true” means that “encoderLeftTicks” and “encoderRightTicks” contain valid values.

int32_t encoderLeftTicks {0}

For differential-driven robots: The ticks count for each wheel in ABSOLUTE VALUE (IT IS NOT INCREMENTAL) (positive means FORWARD, for both wheels);.

See also:

hasEncodersInfo

bool hasVelocities {false}

“true” means that velocityLocal contains valid values.

mrpt::math::TTwist2D velocityLocal

Velocity, in the robot (local) frame of reference (+X=forward).

Methods

virtual void getSensorPose(mrpt::poses::CPose3D& out_sensorPose) const

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

Note that most sensors will return a full (6D) CPose3D, but see the derived classes for more details or special cases.

See also:

setSensorPose

virtual void setSensorPose(const mrpt::poses::CPose3D& newSensorPose)

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

Note that most sensors will use the full (6D) CPose3D, but see the derived classes for more details or special cases.

See also:

getSensorPose

virtual void getDescriptionAsText(std::ostream& o) const

Build a detailed, multi-line textual description of the observation contents and dump it to the output stream.

If overried by derived classes, call base CObservation::getDescriptionAsText() first to show common information.

This is the text that appears in RawLogViewer when selecting an object in the dataset