10#ifndef CObservationOdometry_H
11#define CObservationOdometry_H
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
#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...
Declares a class that represents any robot's observation.
An observation of the current (cumulative) odometry for a wheeled robot.
int32_t encoderLeftTicks
For odometry only: the ticks count for each wheel in ABSOLUTE VALUE (IT IS NOT INCREMENTAL) (positive...
bool hasEncodersInfo
"true" means that "encoderLeftTicks" and "encoderRightTicks" contain valid values.
bool hasVelocities
"true" means that "velocityLin" and "velocityAng" contain valid values.
poses::CPose2D odometry
The absolute odometry measurement (IT IS NOT INCREMENTAL)
CObservationOdometry()
Constructor.
void getDescriptionAsText(std::ostream &o) const MRPT_OVERRIDE
Build a detailed, multi-line textual description of the observation contents and dump it to the outpu...
void getSensorPose(mrpt::poses::CPose3D &out_sensorPose) const MRPT_OVERRIDE
A general method to retrieve the sensor pose on the robot.
void setSensorPose(const mrpt::poses::CPose3D &) MRPT_OVERRIDE
A general method to change the sensor pose on the robot.
A class used to store a 2D pose.
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.