Template Struct on_motion_policy_base< Sophus::SE3< Scalar > >

• Defined in File on_motion.hpp

Struct Documentation

template<class Scalar>
struct on_motion_policy_base<Sophus::SE3<Scalar>>

Specialization for on_motion_policy_base in SE3 space.

Template Parameters:

Scalar – The scalar type for SE3 elements.

Public Functions

inline constexpr on_motion_policy_base(Scalar min_distance, Scalar min_angle)

Constructor.

Parameters:

• min_distance – The minimum translation distance to trigger the action.

• min_angle – The minimum rotation angle (in radians) to trigger the action.

inline constexpr bool operator()(const Sophus::SE3<Scalar> &prev, const Sophus::SE3<Scalar> &current)

Return true if motion has been detected.

Checks the motion based on the provided SE3 pose, and triggers the action if the motion surpasses the specified distance and angle thresholds.

Parameters:

• prev – The previous SE3 pose to check for motion.

• current – The current SE3 pose to check for motion.

Returns:

True if the action should be triggered based on motion, false otherwise.