Class slamcore::VelocityInterface

template<typename ClockT>
class VelocityInterface : public slamcore::MeasurementPoint<ClockT>

Representing the velocities.

Public Types

using Ptr = std::shared_ptr<VelocityInterface>

using CPtr = std::shared_ptr<const VelocityInterface>

using MeasurementPointT = MeasurementPoint<ClockT>

Public Functions

virtual ~VelocityInterface() = default

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

Returns 3-element vector for the velocities.

virtual const Vector<double, 3> &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 Matrix<double, 6, 6> &getCovariance() const = 0

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

Public Static Attributes

static constexpr ObjectType EnumType = internal::ClockToEnum<ClockT>::EnumVelocity