Class Odometry

• Defined in File odometry.hpp

Class Documentation

class Odometry

Odometry for the kobuki node.

Public Functions

explicit Odometry(double cmd_vel_timeout_sec, const std::string &odom_frame, const std::string &base_frame, bool publish_tf, bool use_imu_heading, const rclcpp::Time &now)

Odometry(Odometry &&c) = delete

Odometry &operator=(Odometry &&c) = delete

Odometry(const Odometry &c) = delete

Odometry &operator=(const Odometry &c) = delete

bool commandTimeout(const rclcpp::Time &now) const

void update(const ecl::linear_algebra::Vector3d &pose_update, ecl::linear_algebra::Vector3d &pose_update_rates, double imu_heading, double imu_angular_velocity, const rclcpp::Time &now)

void resetOdometry()

const rclcpp::Duration &timeout() const

void resetTimeout(const rclcpp::Time &now)

std::unique_ptr<geometry_msgs::msg::TransformStamped> getTransform()

std::unique_ptr<nav_msgs::msg::Odometry> getOdometry()