g2o::VelocityMeasurement Class Reference

velocity measurement of a differential robot More...

#include <odometry_measurement.h>

Public Member Functions
	VelocityMeasurement ()
	VelocityMeasurement (double vl, double vr, double dt)
double	vl () const
void	setVl (double v)
double	vr () const
void	setVr (double v)
double	dt () const
void	setDt (double t)
const Vector2D &	measurement () const

Public Attributes
	EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Protected Attributes
Vector2D	_measurement
double	_dt

Detailed Description

velocity measurement of a differential robot

Definition at line 38 of file odometry_measurement.h.

Constructor & Destructor Documentation

g2o::VelocityMeasurement::VelocityMeasurement

(

)

Definition at line 34 of file odometry_measurement.cpp.

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

g2o::VelocityMeasurement::VelocityMeasurement	(	double	vl,
		double	vr,
		double	dt
	)

Definition at line 39 of file odometry_measurement.cpp.

                                                                          :
    _measurement(vl, vr), _dt(dt)
  {
  }

Member Function Documentation

double g2o::VelocityMeasurement::dt ( ) const

inline

Definition at line 51 of file odometry_measurement.h.

Referenced by g2o::EdgeSE2PureCalib::computeError(), g2o::OdomConvert::convertToMotion(), and g2o::EdgeSE2OdomDifferentialCalib::write().

{ return _dt;}

const Vector2D& g2o::VelocityMeasurement::measurement ( ) const

inline

Definition at line 54 of file odometry_measurement.h.

{ return _measurement;}

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

inline

Definition at line 52 of file odometry_measurement.h.

{ _dt = t;}

void g2o::VelocityMeasurement::setVl ( double  v )

inline

Definition at line 46 of file odometry_measurement.h.

Referenced by main().

{ _measurement(0) = v;}

void g2o::VelocityMeasurement::setVr ( double  v )

inline

Definition at line 49 of file odometry_measurement.h.

Referenced by main().

{ _measurement(1) = v;}

double g2o::VelocityMeasurement::vl ( ) const

inline

Definition at line 45 of file odometry_measurement.h.

Referenced by g2o::ClosedFormCalibration::calibrate(), g2o::OdomConvert::convertToMotion(), main(), and g2o::EdgeSE2OdomDifferentialCalib::write().

{ return _measurement(0);}

double g2o::VelocityMeasurement::vr ( ) const

inline

Definition at line 48 of file odometry_measurement.h.

Referenced by g2o::ClosedFormCalibration::calibrate(), g2o::EdgeSE2PureCalib::computeError(), g2o::OdomConvert::convertToMotion(), main(), and g2o::EdgeSE2OdomDifferentialCalib::write().

{ return _measurement(1);}

Member Data Documentation

double g2o::VelocityMeasurement::_dt

protected

Definition at line 58 of file odometry_measurement.h.

Vector2D g2o::VelocityMeasurement::_measurement

protected

Definition at line 57 of file odometry_measurement.h.

g2o::VelocityMeasurement::EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Definition at line 41 of file odometry_measurement.h.

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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