g2o::MotionMeasurement Class Reference

A 2D odometry measurement expressed as a transformation. More...

#include <odometry_measurement.h>

Public Member Functions
	MotionMeasurement ()
	MotionMeasurement (double x, double y, double theta, double dt)
	MotionMeasurement (const Vector3 &m, double dt)
double	x () const
void	setX (double v)
double	y () const
void	setY (double v)
double	theta () const
void	setTheta (double v)
double	dt () const
void	setDt (double t)
const Vector3 &	measurement () const

Public Attributes
	EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Protected Attributes
Vector3	_measurement
double	_dt

Detailed Description

A 2D odometry measurement expressed as a transformation.

Definition at line 65 of file odometry_measurement.h.

Constructor & Destructor Documentation

MotionMeasurement() [1/3]

g2o::MotionMeasurement::MotionMeasurement

(

)

Definition at line 39 of file odometry_measurement.cpp.

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

References _dt, and _measurement.

MotionMeasurement() [2/3]

g2o::MotionMeasurement::MotionMeasurement	(	double	x,
		double	y,
		double	theta,
		double	dt )

Definition at line 41 of file odometry_measurement.cpp.

    : _measurement(x, y, theta), _dt(dt) {}

References _dt, _measurement, dt(), theta(), x(), and y().

MotionMeasurement() [3/3]

g2o::MotionMeasurement::MotionMeasurement	(	const Vector3 &	m,
		double	dt )

Definition at line 45 of file odometry_measurement.cpp.

    : _measurement(m), _dt(dt) {}

References _dt, _measurement, and dt().

Member Function Documentation

dt()

double g2o::MotionMeasurement::dt ( ) const

inline

Definition at line 81 of file odometry_measurement.h.

{ return _dt; }

References _dt.

Referenced by g2o::OdomConvert::convertToVelocity(), MotionMeasurement(), and MotionMeasurement().

measurement()

const Vector3 & g2o::MotionMeasurement::measurement ( ) const

inline

Definition at line 84 of file odometry_measurement.h.

{ return _measurement; }

References _measurement.

Referenced by EdgeCalib::computeError(), g2o::EdgeSE2OdomDifferentialCalib::computeError(), g2o::EdgeSE2PureCalib::computeError(), and main().

setDt()

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

inline

Definition at line 82 of file odometry_measurement.h.

{ _dt = t; }

References _dt.

setTheta()

void g2o::MotionMeasurement::setTheta ( double v )

inline

Definition at line 79 of file odometry_measurement.h.

{ _measurement(2) = v; }

References _measurement.

setX()

void g2o::MotionMeasurement::setX ( double v )

inline

Definition at line 73 of file odometry_measurement.h.

{ _measurement(0) = v; }

References _measurement.

setY()

void g2o::MotionMeasurement::setY ( double v )

inline

Definition at line 76 of file odometry_measurement.h.

{ _measurement(1) = v; }

References _measurement.

theta()

double g2o::MotionMeasurement::theta ( ) const

inline

Definition at line 78 of file odometry_measurement.h.

{ return _measurement(2); }

References _measurement.

Referenced by g2o::OdomConvert::convertToVelocity(), and MotionMeasurement().

x()

double g2o::MotionMeasurement::x ( ) const

inline

Definition at line 72 of file odometry_measurement.h.

{ return _measurement(0); }

References _measurement.

Referenced by g2o::OdomConvert::convertToVelocity(), and MotionMeasurement().

y()

double g2o::MotionMeasurement::y ( ) const

inline

Definition at line 75 of file odometry_measurement.h.

{ return _measurement(1); }

References _measurement.

Referenced by g2o::OdomConvert::convertToVelocity(), and MotionMeasurement().

Member Data Documentation

_dt

double g2o::MotionMeasurement::_dt

protected

Definition at line 88 of file odometry_measurement.h.

Referenced by dt(), MotionMeasurement(), MotionMeasurement(), MotionMeasurement(), and setDt().

_measurement

Vector3 g2o::MotionMeasurement::_measurement

protected

Definition at line 87 of file odometry_measurement.h.

Referenced by measurement(), MotionMeasurement(), MotionMeasurement(), MotionMeasurement(), setTheta(), setX(), setY(), theta(), x(), and y().

EIGEN_MAKE_ALIGNED_OPERATOR_NEW

g2o::MotionMeasurement::EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Definition at line 67 of file odometry_measurement.h.

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The documentation for this class was generated from the following files:

• /build/reproducible-path/g2o-0~20230806/g2o/types/sclam2d/odometry_measurement.h
• /build/reproducible-path/g2o-0~20230806/g2o/types/sclam2d/odometry_measurement.cpp