Struct Odometry2DParams

Inheritance Relationships

Base Type

Struct Documentation

struct Odometry2DParams : public fuse_models::parameters::ParameterBase

Defines the set of parameters required by the Odometry2D class.

Public Functions

inline virtual void loadFromROS(fuse_core::node_interfaces::NodeInterfaces<fuse_core::node_interfaces::Base, fuse_core::node_interfaces::Logging, fuse_core::node_interfaces::Parameters> interfaces, const std::string &ns)

Method for loading parameter values from ROS.

Parameters:

  • interfaces – [in] - The node interfaces with which to load parameters

  • ns – [in] - The parameter namespace to use

Public Members

bool differential = {false}
bool disable_checks = {false}
bool independent = {true}
bool use_twist_covariance = {true}
fuse_core::Matrix3d minimum_pose_relative_covariance

Minimum pose relative covariance matrix

fuse_core::Matrix3d twist_covariance_offset

Offset already added to the twist covariance matrix, that will be substracted in order to recover the raw values

int queue_size = {10}
rclcpp::Duration tf_timeout = {0, 0}

The maximum time to wait for a transform to become available

rclcpp::Duration throttle_period = {0, 0}

The throttle period duration in seconds.

bool throttle_use_wall_time = {false}

Whether to throttle using ros::WallTime or not.

std::string topic = {}
std::string pose_target_frame = {}
std::string twist_target_frame = {}
std::vector<size_t> position_indices
std::vector<size_t> orientation_indices
std::vector<size_t> linear_velocity_indices
std::vector<size_t> angular_velocity_indices
fuse_core::Loss::SharedPtr pose_loss
fuse_core::Loss::SharedPtr linear_velocity_loss
fuse_core::Loss::SharedPtr angular_velocity_loss