Class PerceptionBase

Defined in File Perceptions.hpp

Inheritance Relationships

Derived Types

public easynav::DetectionsPerception (Class DetectionsPerception)
public easynav::GNSSPerception (Class GNSSPerception)
public easynav::IMUPerception (Class IMUPerception)
public easynav::ImagePerception (Class ImagePerception)
public easynav::PointPerception (Class PointPerception)

Class Documentation

class PerceptionBase

Abstract base class for representing a single sensor perception.

Contains common metadata (timestamp, frame ID, validity flags) that all perception types share.

Subclassed by easynav::DetectionsPerception, easynav::GNSSPerception, easynav::IMUPerception, easynav::ImagePerception, easynav::PointPerception

Public Functions

virtual ~PerceptionBase() = default

Public Members

rclcpp::Time stamp: Timestamp of the perception (ROS time).

std::string frame_id: Coordinate frame associated with the perception.

bool valid = false: Whether the perception contains valid data.

bool new_data = false: Whether the data has changed since the last observation.