10 #ifndef CObservationOdometry_H 11 #define CObservationOdometry_H 60 void getDescriptionAsText(std::ostream &o)
const MRPT_OVERRIDE;
poses::CPose2D odometry
The absolute odometry measurement (IT IS NOT INCREMENTAL)
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
bool hasEncodersInfo
"true" means that "encoderLeftTicks" and "encoderRightTicks" contain valid values.
void getSensorPose(mrpt::poses::CPose3D &out_sensorPose) const MRPT_OVERRIDE
A general method to retrieve the sensor pose on the robot.
float velocityLin
The velocity of the robot, linear in meters/sec and angular in rad/sec.
#define DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
This declaration must be inserted in all CSerializable classes definition, before the class declarati...
void setSensorPose(const mrpt::poses::CPose3D &) MRPT_OVERRIDE
A general method to change the sensor pose on the robot.
int32_t encoderRightTicks
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...
A class used to store a 2D pose.
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
Declares a class that represents any robot's observation.
An observation of the current (cumulative) odometry for a wheeled robot.
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
bool hasVelocities
"true" means that "velocityLin" and "velocityAng" contain valid values.