struct mrpt::nav::CAbstractNavigator::TRobotPoseVel

Overview

#include <mrpt/nav/reactive/CAbstractNavigator.h>

struct TRobotPoseVel
{
    // fields

    mrpt::math::TPose2D pose;
    mrpt::math::TTwist2D velGlobal;
    mrpt::math::TTwist2D velLocal;
    mrpt::math::TPose2D rawOdometry;
    mrpt::system::TTimeStamp timestamp;
    std::string pose_frame_id;

    // construction

    TRobotPoseVel();
};

Fields

mrpt::math::TPose2D rawOdometry

raw odometry (frame does not match to “pose”, but is expected to be smoother in the short term).

std::string pose_frame_id

map frame ID for pose