Template Struct on_motion_policy_base< Sophus::SE2< Scalar > >
Defined in File on_motion.hpp
Struct Documentation
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template<class Scalar>
struct on_motion_policy_base<Sophus::SE2<Scalar>> Specialization for on_motion_policy_base in SE2 space.
- Template Parameters:
Scalar – The scalar type for SE2 elements.
Public Functions
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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.
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inline constexpr bool operator()(const Sophus::SE2<Scalar> &prev, const Sophus::SE2<Scalar> ¤t)
Return true if motion has been detected.
Checks the motion based on the provided SE2 pose, and triggers the action if the motion surpasses the specified distance and angle thresholds.
- Parameters:
prev – The previous SE2 pose to check for motion.
current – The current SE2 pose to check for motion.
- Returns:
True if the action should be triggered based on motion, false otherwise.