class mrpt::obs::CObservationOdometry

Overview

An observation of the current (cumulative) odometry for a wheeled robot.

This provides the relative pose of the robot with respect to the odom frame of reference, in “ROS parlance”.

This kind of observation more naturally fits the “observation-only” rawlog format, since odometry increments are normally used in “sensory-frame based” datasets. However, the user is free to use them whenever it is useful. Refer to the rawlog format description.

See also:

CObservation, CActionRobotMovement2D

#include <mrpt/obs/CObservationOdometry.h>

class CObservationOdometry: public mrpt::obs::CObservation
{
public:
    // fields

    mrpt::poses::CPose2D odometry;
    bool hasEncodersInfo {false};
    int32_t encoderLeftTicks {0};
    int32_t encoderRightTicks {0};
    bool hasVelocities {false};
    mrpt::math::TTwist2D velocityLocal;

    // construction

    CObservationOdometry();

    // methods

    virtual void getSensorPose(mrpt::poses::CPose3D& out_sensorPose) const;
    virtual void setSensorPose(const mrpt::poses::CPose3D& newSensorPose);
    virtual void getDescriptionAsText(std::ostream& o) const;
    virtual bool exportTxtSupported() const;
    virtual std::string exportTxtHeader() const;
    virtual std::string exportTxtDataRow() const;
};

Inherited Members

public:
    // fields

    mrpt::system::TTimeStamp timestamp {mrpt::system::now()};
    std::string sensorLabel;

    // methods

    mrpt::system::TTimeStamp getTimeStamp() const;
    virtual mrpt::system::TTimeStamp getOriginalReceivedTimeStamp() const;
    void load() const;
    virtual void unload() const;
    virtual bool exportTxtSupported() const;
    virtual std::string exportTxtHeader() const;
    virtual std::string exportTxtDataRow() const;

    template <class METRICMAP>
    bool insertObservationInto(
        METRICMAP& theMap,
        const std::optional<const mrpt::poses::CPose3D>& robotPose = std::nullopt
        ) const;

    virtual void getSensorPose(mrpt::poses::CPose3D& out_sensorPose) const = 0;
    void getSensorPose(mrpt::math::TPose3D& out_sensorPose) const;
    mrpt::math::TPose3D sensorPose() const;
    virtual void setSensorPose(const mrpt::poses::CPose3D& newSensorPose) = 0;
    void setSensorPose(const mrpt::math::TPose3D& newSensorPose);
    virtual void getDescriptionAsText(std::ostream& o) const;
    virtual std::string asString() const;

Fields

mrpt::poses::CPose2D odometry

The absolute odometry measurement (IT IS NOT INCREMENTAL)

bool hasEncodersInfo {false}

“true” means that “encoderLeftTicks” and “encoderRightTicks” contain valid values.

int32_t encoderLeftTicks {0}

For differential-driven robots: The ticks count for each wheel in ABSOLUTE VALUE (IT IS NOT INCREMENTAL) (positive means FORWARD, for both wheels);.

See also:

hasEncodersInfo

bool hasVelocities {false}

“true” means that velocityLocal contains valid values.

mrpt::math::TTwist2D velocityLocal

Velocity, in the robot (local) frame of reference (+X=forward).

Construction

CObservationOdometry()

Default ctor.

Constructor.

Methods

virtual void getSensorPose(mrpt::poses::CPose3D& out_sensorPose) const

A general method to retrieve the sensor pose on the robot.

Note that most sensors will return a full (6D) CPose3D, but see the derived classes for more details or special cases.

See also:

setSensorPose

virtual void setSensorPose(const mrpt::poses::CPose3D& newSensorPose)

A general method to change the sensor pose on the robot.

Note that most sensors will use the full (6D) CPose3D, but see the derived classes for more details or special cases.

See also:

getSensorPose

virtual void getDescriptionAsText(std::ostream& o) const

Build a detailed, multi-line textual description of the observation contents and dump it to the output stream.

If overried by derived classes, call base CObservation::getDescriptionAsText() first to show common information.

This is the text that appears in RawLogViewer when selecting an object in the dataset

virtual bool exportTxtSupported() const

Must return true if the class is exportable to TXT/CSV files, in which case the other virtual methods in this group must be redefined too.

virtual std::string exportTxtHeader() const

Returns the description of the data columns.

Timestamp is automatically included as the first column, do not list it. See example implementations if interested in enabling this in custom CObservation classes. Do not include newlines.

virtual std::string exportTxtDataRow() const

Returns one row of data with the data stored in this particular object.

Do not include newlines.