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CObservationOdometry.h
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1 /* +------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | http://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file |
6  | See: http://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See details in http://www.mrpt.org/License |
8  +------------------------------------------------------------------------+ */
9 
10 #ifndef CObservationOdometry_H
11 #define CObservationOdometry_H
12 
14 #include <mrpt/obs/CObservation.h>
15 #include <mrpt/poses/CPose2D.h>
16 #include <mrpt/poses/CPose3D.h>
18 
19 namespace mrpt
20 {
21 namespace obs
22 {
23 /** An observation of the current (cumulative) odometry for a wheeled robot.
24  * This kind of observation will only occur in a "observation-only" rawlog
25  * file, otherwise
26  * odometry are modeled with actions. Refer to the <a
27  * href="http://www.mrpt.org/Rawlog_Format">page on rawlogs</a>.
28  *
29  * \sa CObservation, CActionRobotMovement2D
30  * \ingroup mrpt_obs_grp
31  */
33 {
35 
36  public:
37  /** Default ctor */
39 
40  /** The absolute odometry measurement (IT IS NOT INCREMENTAL) */
42 
43  /** "true" means that "encoderLeftTicks" and "encoderRightTicks" contain
44  * valid values. */
46  /** For differential-driven robots: The ticks count for each wheel in
47  * ABSOLUTE VALUE (IT IS NOT INCREMENTAL) (positive means FORWARD, for both
48  * wheels); \sa hasEncodersInfo */
50 
51  /** "true" means that `velocityLocal` contains valid values. */
53  /** Velocity, in the robot (local) frame of reference (+X=forward). */
55 
56  // See base class docs
57  void getSensorPose(mrpt::poses::CPose3D& out_sensorPose) const override
58  {
59  out_sensorPose = mrpt::poses::CPose3D(0, 0, 0);
60  }
61  void setSensorPose(const mrpt::poses::CPose3D&) override {}
62  void getDescriptionAsText(std::ostream& o) const override;
63 
64 }; // End of class def.
65 
66 } // End of namespace
67 } // End of namespace
68 
69 #endif
mrpt::poses::CPose2D odometry
The absolute odometry measurement (IT IS NOT INCREMENTAL)
bool hasEncodersInfo
"true" means that "encoderLeftTicks" and "encoderRightTicks" contain valid values.
2D twist: 2D velocity vector (vx,vy) + planar angular velocity (omega)
mrpt::math::TTwist2D velocityLocal
Velocity, in the robot (local) frame of reference (+X=forward).
void getDescriptionAsText(std::ostream &o) const override
Build a detailed, multi-line textual description of the observation contents and dump it to the outpu...
void setSensorPose(const mrpt::poses::CPose3D &) override
A general method to change the sensor pose on the robot.
__int32 int32_t
Definition: rptypes.h:46
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
int32_t encoderLeftTicks
For differential-driven robots: The ticks count for each wheel in ABSOLUTE VALUE (IT IS NOT INCREMENT...
A class used to store a 2D pose, including the 2D coordinate point and a heading (phi) angle...
Definition: CPose2D.h:40
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
Definition: CPose3D.h:88
Declares a class that represents any robot&#39;s observation.
Definition: CObservation.h:43
void getSensorPose(mrpt::poses::CPose3D &out_sensorPose) const override
A general method to retrieve the sensor pose on the robot.
An observation of the current (cumulative) odometry for a wheeled robot.
bool hasVelocities
"true" means that velocityLocal contains valid values.



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