Class VelocityLinear2DStamped

Inheritance Relationships

Base Types

Class Documentation

class VelocityLinear2DStamped : public fuse_variables::FixedSizeVariable<2>, public fuse_variables::Stamped

Variable representing a 2D linear velocity (vx, vy) 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 X
enumerator Y

Public Functions

VelocityLinear2DStamped() = default

Default constructor.

explicit VelocityLinear2DStamped(const rclcpp::Time &stamp, const fuse_core::UUID &device_id = fuse_core::uuid::NIL)

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

Parameters:

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

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

inline double &x()

Read-write access to the X-axis linear velocity.

inline const double &x() const

Read-only access to the X-axis linear velocity.

inline double &y()

Read-write access to the Y-axis linear velocity.

inline const double &y() const

Read-only access to the Y-axis linear 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