g2o::MotionMeasurement Class Reference

A 2D odometry measurement expressed as a transformation. More...

#include <odometry_measurement.h>

Public Member Functions
	MotionMeasurement ()
	MotionMeasurement (double x, double y, double theta, double dt)
	MotionMeasurement (const Vector3D &m, double dt)
double	x () const
void	setX (double v)
double	y () const
void	setY (double v)
double	theta () const
void	setTheta (double v)
double	dt () const
void	setDt (double t)
const Vector3D &	measurement () const

Public Attributes
	EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Protected Attributes
Vector3D	_measurement
double	_dt

Detailed Description

A 2D odometry measurement expressed as a transformation.

Definition at line 64 of file odometry_measurement.h.

Constructor & Destructor Documentation

g2o::MotionMeasurement::MotionMeasurement

(

)

Definition at line 44 of file odometry_measurement.cpp.

Referenced by g2o::OdomConvert::convertToMotion().

                                       :
    _measurement(0., 0., 0.), _dt(0.)
  {
  }

g2o::MotionMeasurement::MotionMeasurement	(	double	x,
		double	y,
		double	theta,
		double	dt
	)

Definition at line 49 of file odometry_measurement.cpp.

                                                                                  :
    _measurement(x, y, theta), _dt(dt)
  {
  }

g2o::MotionMeasurement::MotionMeasurement	(	const Vector3D &	m,
		double	dt
	)

Definition at line 54 of file odometry_measurement.cpp.

                                                                   :
    _measurement(m), _dt(dt)
  {
  }

Member Function Documentation

double g2o::MotionMeasurement::dt ( ) const

inline

Definition at line 81 of file odometry_measurement.h.

Referenced by g2o::OdomConvert::convertToVelocity().

{ return _dt;}

const Vector3D& g2o::MotionMeasurement::measurement ( ) const

inline

Definition at line 84 of file odometry_measurement.h.

Referenced by main().

{ return _measurement;}

void g2o::MotionMeasurement::setDt ( double  t )

inline

Definition at line 82 of file odometry_measurement.h.

{ _dt = t;}

void g2o::MotionMeasurement::setTheta ( double  v )

inline

Definition at line 79 of file odometry_measurement.h.

{ _measurement(2) = v;}

void g2o::MotionMeasurement::setX ( double  v )

inline

Definition at line 73 of file odometry_measurement.h.

{ _measurement(0) = v;}

void g2o::MotionMeasurement::setY ( double  v )

inline

Definition at line 76 of file odometry_measurement.h.

{ _measurement(1) = v;}

double g2o::MotionMeasurement::theta ( ) const

inline

Definition at line 78 of file odometry_measurement.h.

Referenced by g2o::OdomConvert::convertToMotion(), and g2o::OdomConvert::convertToVelocity().

{ return _measurement(2);}

double g2o::MotionMeasurement::x ( ) const

inline

Definition at line 72 of file odometry_measurement.h.

Referenced by g2o::OdomConvert::convertToMotion(), and g2o::OdomConvert::convertToVelocity().

{ return _measurement(0);}

double g2o::MotionMeasurement::y ( ) const

inline

Definition at line 75 of file odometry_measurement.h.

Referenced by g2o::OdomConvert::convertToMotion(), and g2o::OdomConvert::convertToVelocity().

{ return _measurement(1);}

Member Data Documentation

double g2o::MotionMeasurement::_dt

protected

Definition at line 88 of file odometry_measurement.h.

Vector3D g2o::MotionMeasurement::_measurement

protected

Definition at line 87 of file odometry_measurement.h.

g2o::MotionMeasurement::EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Definition at line 67 of file odometry_measurement.h.

---

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

• /home/xuezhisd/CLionProjects/g2o/g2o/types/sclam2d/odometry_measurement.h
• /home/xuezhisd/CLionProjects/g2o/g2o/types/sclam2d/odometry_measurement.cpp