#include <mpp/data/VehicleOdometryState.h>

Public Attributes
bool	valid = false

mrpt::math::TPose2D	odometry

mrpt::math::TTwist2D	odometryVelocityLocal

mrpt::system::TTimeStamp	timestamp

bool	pendedActionExists = false

Detailed Description

Data returned by VehicleMotionInterface::get_odometry()

Member Data Documentation

◆ odometry

mrpt::math::TPose2D mpp::VehicleOdometryState::odometry

The latest robot raw odometry pose. (x,y: meters, phi: radians). Axes: +x=forward, +y=vehicle left, +phi=CCW rotation.

◆ odometryVelocityLocal

mrpt::math::TTwist2D mpp::VehicleOdometryState::odometryVelocityLocal

The latest robot velocity, in its own body local frame of reference. (vx,vy: m/s, omega: rad/s) Axes: +vx=forward, +vy=vehicle left, +omega=CCW rotation.

◆ pendedActionExists

bool mpp::VehicleOdometryState::pendedActionExists = false

There exists an action waiting for execution after the current under-execution one. See: VehicleMotionInterface::motion_execute() for a discussion.

◆ timestamp

mrpt::system::TTimeStamp mpp::VehicleOdometryState::timestamp

The timestamp for the read pose and velocity values. Use mrpt::system::now() unless you have something more accurate.

◆ valid

bool mpp::VehicleOdometryState::valid = false

Set to true if data could be retrieved from the robot system successfully, set to false upon any critical error that made it impossible to fill in the data fields in this structure.

The documentation for this struct was generated from the following file:

/home/docs/checkouts/readthedocs.org/user_builds/selfdriving/checkouts/latest/mrpt_path_planning/include/mpp/data/VehicleOdometryState.h