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OpenRAVE::SensorBase::OdometrySensorData Class Reference

odometry data storing full 6D pose and velocity More...

#include <sensor.h>

Inheritance diagram for OpenRAVE::SensorBase::OdometrySensorData:
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Collaboration diagram for OpenRAVE::SensorBase::OdometrySensorData:
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Public Member Functions

virtual SensorType GetType ()
 
- Public Member Functions inherited from OpenRAVE::SensorBase::SensorData
virtual ~SensorData ()
 
virtual bool serialize (std::ostream &O) const
 Serialize the sensor data to stream in XML format.
 

Public Attributes

Transform pose
 measured pose
 
Vector linear_velocity
 
Vector angular_velocity
 measured velocity
 
boost::array< dReal, 36 > pose_covariance
 Row major of 6x6 matrix about linear x, y, z axes.
 
boost::array< dReal, 36 > velocity_covariance
 Row major of 6x6 matrix about rotational x, y, z axes.
 
- Public Attributes inherited from OpenRAVE::SensorBase::SensorData
uint64_t __stamp
 time stamp of the sensor data in microseconds. If 0, then the data is uninitialized! (floating-point precision is bad here). This can be either simulation or real time depending on the sensor.
 
Transform __trans
 the coordinate system the sensor was when the measurement was taken, this is taken directly from SensorBase::GetTransform
 

Detailed Description

odometry data storing full 6D pose and velocity

Definition at line 132 of file sensor.h.

Member Function Documentation

virtual SensorType OpenRAVE::SensorBase::OdometrySensorData::GetType ( )
inlinevirtual

Implements OpenRAVE::SensorBase::SensorData.

Definition at line 135 of file sensor.h.

Member Data Documentation

Vector OpenRAVE::SensorBase::OdometrySensorData::angular_velocity

measured velocity

Definition at line 139 of file sensor.h.

Vector OpenRAVE::SensorBase::OdometrySensorData::linear_velocity

Definition at line 139 of file sensor.h.

Transform OpenRAVE::SensorBase::OdometrySensorData::pose

measured pose

Definition at line 138 of file sensor.h.

boost::array<dReal,36> OpenRAVE::SensorBase::OdometrySensorData::pose_covariance

Row major of 6x6 matrix about linear x, y, z axes.

Definition at line 140 of file sensor.h.

boost::array<dReal,36> OpenRAVE::SensorBase::OdometrySensorData::velocity_covariance

Row major of 6x6 matrix about rotational x, y, z axes.

Definition at line 141 of file sensor.h.


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