nav2_driver::Nav2Driver::BaseOdometry Class Reference

Internal class for building and representing the base odometry state. More...

List of all members.

Public Member Functions
	BaseOdometry ()
	Initialize state to 0,0,0.
	BaseOdometry (Pose2D offset)
	Initialize state with offset, usually if connection to base was reset.
nav_msgs::Odometry	getMessage (std::string robot_prefix)
	Build Odometry message from internal odometry state.
Pose2D	getPose ()
	Get current odometry pose.
geometry_msgs::TransformStamped	getTransform (bool invert_odom, std::string robot_prefix)
	Build transform from internal odometry state.
void	updateWithAbsolute (Pose2D abs)
void	updateWithRelative (Pose2D delta)
Private Attributes
ros::Time	last_time_
Pose2D	offset_
Pose2D	pose_
Pose2D	prev_
Pose2D	vel_

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Detailed Description

Internal class for building and representing the base odometry state.

Definition at line 174 of file nav2_driver.cpp.

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Constructor & Destructor Documentation

nav2_driver::Nav2Driver::BaseOdometry::BaseOdometry

(

)

[inline]

Initialize state to 0,0,0.

Definition at line 181 of file nav2_driver.cpp.

nav2_driver::Nav2Driver::BaseOdometry::BaseOdometry

(

Pose2D

offset

)

[inline]

Initialize state with offset, usually if connection to base was reset.

Parameters:

offset

Pose offset to use

Definition at line 187 of file nav2_driver.cpp.

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Member Function Documentation

nav_msgs::Odometry nav2_driver::Nav2Driver::BaseOdometry::getMessage

(

std::string

robot_prefix

)

[inline]

Build Odometry message from internal odometry state.

Parameters:

robot_prefix

Tf prefix to use with odom and base_link frame

Returns:

odometry message

Definition at line 236 of file nav2_driver.cpp.

Pose2D nav2_driver::Nav2Driver::BaseOdometry::getPose

(

)

[inline]

Get current odometry pose.

Returns:

current odometry pose

Definition at line 273 of file nav2_driver.cpp.

geometry_msgs::TransformStamped nav2_driver::Nav2Driver::BaseOdometry::getTransform	(	bool	invert_odom,
		std::string	robot_prefix
	)		[inline]

Build transform from internal odometry state.

Parameters:

invert_odom	Invert odometry for use with robot_pose_ekf
robot_prefix	Tf prefix to use with odom and base_link frame

Returns:

transform

Definition at line 209 of file nav2_driver.cpp.

void nav2_driver::Nav2Driver::BaseOdometry::updateWithAbsolute

(

Pose2D

abs

)

[inline]

Definition at line 189 of file nav2_driver.cpp.

void nav2_driver::Nav2Driver::BaseOdometry::updateWithRelative

(

Pose2D

delta

)

[inline]

Definition at line 194 of file nav2_driver.cpp.

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Member Data Documentation

ros::Time nav2_driver::Nav2Driver::BaseOdometry::last_time_ [private]

Definition at line 280 of file nav2_driver.cpp.

Pose2D nav2_driver::Nav2Driver::BaseOdometry::offset_ [private]

Definition at line 279 of file nav2_driver.cpp.

Pose2D nav2_driver::Nav2Driver::BaseOdometry::pose_ [private]

Definition at line 279 of file nav2_driver.cpp.

Pose2D nav2_driver::Nav2Driver::BaseOdometry::prev_ [private]

Definition at line 279 of file nav2_driver.cpp.

Pose2D nav2_driver::Nav2Driver::BaseOdometry::vel_ [private]

Definition at line 279 of file nav2_driver.cpp.

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

• nav2_driver.cpp