Class wheel_odometer

• Defined in File rs_sensor.hpp

Inheritance Relationships

Base Type

• public rs2::sensor (Class sensor)

Class Documentation

class wheel_odometer : public rs2::sensor

Public Functions

inline wheel_odometer(sensor s)

inline bool load_wheel_odometery_config(const std::vector<uint8_t> &odometry_config_buf) const

Load Wheel odometer settings from host to device

Parameters:

odometry_config_buf – [in] odometer configuration/calibration blob serialized from jsom file

Returns:

true on success

inline bool send_wheel_odometry(uint8_t wo_sensor_id, uint32_t frame_num, const rs2_vector &translational_velocity)

Send wheel odometry data for each individual sensor (wheel)

Parameters:

• wo_sensor_id – [in] - Zero-based index of (wheel) sensor with the same type within device

• frame_num – [in] - Monotonocally increasing frame number, managed per sensor.

• translational_velocity – [in] - Translational velocity in meter/sec

Returns:

true on success

inline operator bool() const

inline explicit wheel_odometer(std::shared_ptr<rs2_sensor> dev)