Class VelocityAngular3DStamped

Inheritance Relationships

Base Types

Class Documentation

class VelocityAngular3DStamped : public fuse_variables::FixedSizeVariable<3>, public fuse_variables::Stamped

Variable representing a 3D angular velocity (vroll, vpitch, vyaw) at a specific time, with a specific piece of hardware.

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

Public Types

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

Values:

enumerator ROLL
enumerator PITCH
enumerator YAW

Public Functions

VelocityAngular3DStamped() = default

Default constructor.

explicit VelocityAngular3DStamped(const rclcpp::Time &stamp, const fuse_core::UUID &device_id = fuse_core::uuid::NIL)

Construct a 3D angular velocity at a specific point in time.

Parameters:

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

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

inline double &roll()

Read-write access to the roll (X-axis) angular velocity.

inline const double &roll() const

Read-only access to the roll (X-axis) angular velocity.

inline double &pitch()

Read-write access to the pitch (Y-axis) angular velocity.

inline const double &pitch() const

Read-only access to the pitch (Y-axis) angular velocity.

inline double &yaw()

Read-write access to the yaw (Z-axis) angular velocity.

inline const double &yaw() const

Read-only access to the yaw (Z-axis) angular velocity.

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.

Friends

friend class boost::serialization::access