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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:

mrpt::slam::CObservation mrpt::utils::CSerializable

List of all members.

Public Member Functions

 CObservationOdometry ()
 Constructor.
float likelihoodWith (const CObservation *anotherObs, const CPosePDF *anotherObsPose=NULL) const
 Does nothing in this class.
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


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.


Constructor & Destructor Documentation

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

Constructor.


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 84 of file CObservationOdometry.h.

References mrpt::poses::CPose3D.

float mrpt::slam::CObservationOdometry::likelihoodWith ( const CObservation anotherObs,
const CPosePDF anotherObsPose = NULL 
) const [virtual]

Does nothing in this class.

Implements mrpt::slam::CObservation.

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 90 of file CObservationOdometry.h.


Member Data Documentation

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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