Class slamcore::VelocityInterface

template<typename ClockT>
class slamcore::VelocityInterface : public ObjectInterface, public virtual slamcore::MeasurementPointInterface<ClockT>

Representing the velocities.

Public Types

using Ptr = std::shared_ptr<VelocityInterface>
using CPtr = std::shared_ptr<const VelocityInterface>
using MeasurementPointT = MeasurementPointInterface<ClockT>

Public Functions

inline virtual ObjectType type() const

Type of the object.

virtual ~VelocityInterface() = default
virtual const VectorInterface &getLinear() const = 0

Returns 3-element vector for the velocities.

virtual const VectorInterface &getAngular() const = 0

Returns 3-element vector for the velocities.

virtual bool haveCovarianceMatrix() const = 0

Check first if the covariance matrix is provided.

virtual const MatrixInterface &getCovariance() const = 0

Returns the covariance matrix - velocities uncertainty (6x6).