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File base_pose.hpp

Core API objects - base pose.

namespace slamcore

Main namespace for the Slamcore public API

Helper conversion methods

slamcore::ImageFormat \(\leftrightarrow\) BytesPerChannel

Get information about the client library

class BasePoseInterface
#include <base_pose.hpp>

Subclassed by PoseInterface< odometry_clock >, PoseInterface< ClockT >, StaticPoseInterface

Public Functions

virtual ~BasePoseInterface() = default
virtual const Vector<double, 4> &getRotation() const = 0

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

virtual const Vector<double, 3> &getTranslation() const = 0

Returns the translation vector part.

virtual bool haveCovarianceMatrix() const = 0

Check first if the covariance matrix is provided.

virtual const Matrix<double, 6, 6> &getCovariance() const = 0

Returns the covariance matrix - pose uncertainty.


Throws if there is no covariance matrix.

virtual const ReferenceFrame &getChildReferenceFrame() const = 0

Returns the frame of reference the pose defines