Class Orientation2DStamped

Inheritance Relationships

Base Types

Class Documentation

class Orientation2DStamped : public fuse_variables::FixedSizeVariable<1>, public fuse_variables::Stamped

Variable representing a 2D orientation (theta) at a specific time, with a specific piece of hardware.

This is commonly used to represent a robot’s orientation within a map. The UUID of this class is static after construction. As such, the timestamp and device id cannot be modified. The value of the orientation can be modified.

Public Types

Can be used to directly index variables in the data array.

Values:

enumerator YAW

Public Functions

Orientation2DStamped() = default

Default constructor.

explicit Orientation2DStamped(const rclcpp::Time &stamp, const fuse_core::UUID &device_id = fuse_core::uuid::NIL)

Construct a 2D orientation at a specific point in time.

Parameters:

  • stamp – [in] The timestamp attached to this orientation.

  • device_id – [in] An optional device id, for use when variables originate from multiple robots or devices

inline double &yaw()

Read-write access to the heading angle.

inline const double &yaw() const

Read-only access to the heading angle.

void print(std::ostream &stream = std::cout) const override

Print a human-readable description of the variable to the provided stream.

Parameters:

stream – [out] The stream to write to. Defaults to stdout.

inline size_t localSize() const override

Returns the number of elements of the local parameterization space.

Since we are overriding the localParameterization() method, it is good practice to override the localSize() method as well.

fuse_core::LocalParameterization *localParameterization() const override

Create a new Ceres local parameterization object to apply to updates of this variable.

A 2D rotation has a nonlinearity when the angle wraps around from -PI to PI. This is handled by a custom local parameterization to ensure smooth derivatives.

Returns:

A base pointer to an instance of a derived LocalParameterization

Friends

friend class boost::serialization::access