odometry data storing full 6D pose and velocity [詳細]
#include <sensor.h>
Public メソッド | |
virtual SensorType | GetType () |
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virtual | ~SensorData () |
virtual bool | serialize (std::ostream &O) const |
Serialize the sensor data to stream in XML format. | |
Public 変数 | |
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. | |
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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 | |
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inlinevirtual |
OpenRAVE::SensorBase::SensorDataを実装しています。
Vector OpenRAVE::SensorBase::OdometrySensorData::angular_velocity |
boost::array<dReal,36> OpenRAVE::SensorBase::OdometrySensorData::pose_covariance |
boost::array<dReal,36> OpenRAVE::SensorBase::OdometrySensorData::velocity_covariance |