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Class slamcore::WheelOdometrySample

class WheelOdometrySample : public PoseInterface<odometry_clock>

Simple class for feeding wheel odometry data.

Unnamed Group

virtual IDT getID() const final override

[OPTIONAL] Measurement ID, can be just sample counter.

void setID(const IDT id)

Unnamed Group

virtual time_point getHWTimestamp() const final override

[OPTIONAL] Get the measurement acquisition timestamp (sensor HW clock).

Unnamed Group

virtual host_time_point getSourceAcquisitionTimestamp() const final override

Get the acquisition timestamp of this measurement

void setSourceAcquisitionTimestamp(const host_time_point t)

Public Functions

WheelOdometrySample()
virtual ~WheelOdometrySample()
WheelOdometrySample(const WheelOdometrySample &other) = default
WheelOdometrySample(WheelOdometrySample &&other) = default
WheelOdometrySample &operator=(const WheelOdometrySample &other) = default
WheelOdometrySample &operator=(WheelOdometrySample &&other) = default
WheelOdometrySample(const PoseInterface<odometry_clock> &other)
virtual SensorIDT getSensorID() const final override

[OPTIONAL] ID of the measurement source, for example sensor number.

virtual host_time_point getAcquisitionTimestamp() const final override

[OPTIONAL] Get the measurement acquisition timestamp (remote OS clock).

virtual const ReferenceFrameInterface &getReferenceFrame() const final override

Get the reference frame of a sample.

virtual const VectorInterface &getRotation() const final override

Returns the rotation part - Quaternion X,Y,Z,W.

virtual const VectorInterface &getTranslation() const final override

Returns the translation vector part.

void setValue(const VectorInterface &t, const VectorInterface &r)

Sets the value.

Parameters

  • t – Translation vector (X,Y,Z)

  • r – Rotation quaternion (X,Y,Z,W)

virtual bool haveCovarianceMatrix() const final override

Check first if the covariance matrix is provided.

virtual const MatrixInterface &getCovariance() const final override

Returns the covariance matrix - pose uncertainty.

virtual const ReferenceFrameInterface &getChildReferenceFrame() const final override

Returns the frame of reference the pose defines

struct Pimpl

Public Members

IDT m_id = 0
SensorIDT m_sid = SensorIDT(SensorType::Odometry, 0)
time_point m_timestamp_hw = time_point(std::chrono::nanoseconds(0))
host_time_point m_timestamp_acq = host_time_point(std::chrono::nanoseconds(0))
host_time_point m_timestamp_source_acq = host_time_point(std::chrono::nanoseconds(0))
DummyReferenceFrame m_referenceFrame
DummyReferenceFrame m_childReferenceFrame
Vector m_translation
Vector m_rotation
Matrix m_covariance