struct mrpt::nav::CRobot2NavInterface::CurrentPoseAndSpeeds

Overview

Return value for getCurrentPoseAndSpeeds()

#include <mrpt/nav/reactive/CRobot2NavInterface.h>

struct CurrentPoseAndSpeeds
{
    // fields

    mrpt::math::TPose2D pose;
    mrpt::math::TTwist2D velGlobal;
    mrpt::system::TTimeStamp timestamp {INVALID_TIMESTAMP};
    mrpt::math::TPose2D odometry;
    std::string frame_id = "map";
};

Fields

mrpt::math::TPose2D pose

The latest robot pose (from mapping/localization), in world coordinates.

(x,y: meters, phi: radians)

mrpt::math::TTwist2D velGlobal

The latest robot velocity vector, in world coordinates.

(vx,vy: m/s, omega: rad/s)

mrpt::system::TTimeStamp timestamp {INVALID_TIMESTAMP}

Timestamp for pose and velocity values.

mrpt::math::TPose2D odometry

Raw odometry pose; may drift long-term but is locally smooth.

(x,y: meters, phi: radians)

std::string frame_id = "map"

Coordinate frame ID for pose.

Default: “map”.