Public Member Functions | Private Attributes
nav2_driver::Nav2Driver::BaseOdometry Class Reference

Internal class for building and representing the base odometry state. More...

List of all members.

Public Member Functions

 BaseOdometry ()
 Initialize state to 0,0,0.
 BaseOdometry (Pose2D offset)
 Initialize state with offset, usually if connection to base was reset.
nav_msgs::Odometry getMessage (std::string robot_prefix)
 Build Odometry message from internal odometry state.
Pose2D getPose ()
 Get current odometry pose.
geometry_msgs::TransformStamped getTransform (bool invert_odom, std::string robot_prefix)
 Build transform from internal odometry state.
void updateWithAbsolute (Pose2D abs)
void updateWithRelative (Pose2D delta)

Private Attributes

ros::Time last_time_
Pose2D offset_
Pose2D pose_
Pose2D prev_
Pose2D vel_

Detailed Description

Internal class for building and representing the base odometry state.

Definition at line 174 of file nav2_driver.cpp.


Constructor & Destructor Documentation

Initialize state to 0,0,0.

Definition at line 181 of file nav2_driver.cpp.

Initialize state with offset, usually if connection to base was reset.

Parameters:
offsetPose offset to use

Definition at line 187 of file nav2_driver.cpp.


Member Function Documentation

nav_msgs::Odometry nav2_driver::Nav2Driver::BaseOdometry::getMessage ( std::string  robot_prefix) [inline]

Build Odometry message from internal odometry state.

Parameters:
robot_prefixTf prefix to use with odom and base_link frame
Returns:
odometry message

Definition at line 236 of file nav2_driver.cpp.

Get current odometry pose.

Returns:
current odometry pose

Definition at line 273 of file nav2_driver.cpp.

geometry_msgs::TransformStamped nav2_driver::Nav2Driver::BaseOdometry::getTransform ( bool  invert_odom,
std::string  robot_prefix 
) [inline]

Build transform from internal odometry state.

Parameters:
invert_odomInvert odometry for use with robot_pose_ekf
robot_prefixTf prefix to use with odom and base_link frame
Returns:
transform

Definition at line 209 of file nav2_driver.cpp.

Definition at line 189 of file nav2_driver.cpp.

Definition at line 194 of file nav2_driver.cpp.


Member Data Documentation

Definition at line 280 of file nav2_driver.cpp.

Definition at line 279 of file nav2_driver.cpp.

Definition at line 279 of file nav2_driver.cpp.

Definition at line 279 of file nav2_driver.cpp.

Definition at line 279 of file nav2_driver.cpp.


The documentation for this class was generated from the following file:


nav2_driver
Author(s): Paul Bovbel
autogenerated on Sat Jun 8 2019 19:22:46