47 #ifndef _MIRA_ODOMETRY_H_ 48 #define _MIRA_ODOMETRY_H_ 56 namespace mira {
namespace robot {
70 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
87 template<
typename Reflector>
90 r.property(
"Pose",
pose,
"The position");
91 r.property(
"Velocity",
velocity,
"The velocity");
103 float prec = std::numeric_limits<float>::epsilon())
const 105 return pose.isApprox(other.
pose, prec) &&
Odometry(const RigidTransform< float, D > &p, const RigidTransform< float, D > &v)
Construct a new odometry object.
Definition: Odometry.h:82
Odometry< 3 > Odometry3
3D Odometry
Definition: Odometry.h:123
Odometry()
Definition: Odometry.h:75
Odometry< 2 > Odometry2
2D Odometry
Definition: Odometry.h:120
Odometry class.
Definition: Odometry.h:66
RigidTransform< float, D > pose
The pose.
Definition: Odometry.h:111
void reflect(Reflector &r)
Definition: Odometry.h:88
RigidTransform< float, D > velocity
The velocity.
Definition: Odometry.h:114
bool isApprox(const Odometry< D > &other, float prec=std::numeric_limits< float >::epsilon()) const
Definition: Odometry.h:102