odometry::State< BodyState_ > Class Template Reference

#include <State.hpp>

Public Member Functions
	State ()
virtual	~State ()
virtual void	update (const BodyState_ &state)
bool	isValid ()
base::Time	getTimeDelta () const
const BodyState_ &	getCurrent () const
const BodyState_ &	getPrevious () const

Protected Attributes
size_t	update_counter
BodyState_	state_k
BodyState_	state_kp

Detailed Description

template<class BodyState_>
class odometry::State< BodyState_ >

Class which provides common methods for bodystate handling which can be used in the odometry models

Constructor & Destructor Documentation

State()

template<class BodyState_>

odometry::State< BodyState_ >::State ( )

inline

~State()

template<class BodyState_>

virtual odometry::State< BodyState_ >::~State ( )

inlinevirtual

Member Function Documentation

getCurrent()

template<class BodyState_>

const BodyState_& odometry::State< BodyState_ >::getCurrent ( ) const

inline

getPrevious()

template<class BodyState_>

const BodyState_& odometry::State< BodyState_ >::getPrevious ( ) const

inline

getTimeDelta()

template<class BodyState_>

base::Time odometry::State< BodyState_ >::getTimeDelta ( ) const

inline

returns the time difference between the current and the previous state

isValid()

template<class BodyState_>

bool odometry::State< BodyState_ >::isValid ( )

inline

return true if both a current and a previous Bodystate are set, so updateBodyState has been called at least twice.

update()

template<class BodyState_>

virtual void odometry::State< BodyState_ >::update ( const BodyState_ &  state )

inlinevirtual

will set the current body state and store the previous state to perform the odometry calculations.

Member Data Documentation

state_k

template<class BodyState_>

BodyState_ odometry::State< BodyState_ >::state_k

protected

Body state at time k

state_kp

template<class BodyState_>

BodyState_ odometry::State< BodyState_ >::state_kp

protected

update_counter

template<class BodyState_>

size_t odometry::State< BodyState_ >::update_counter

protected

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

• /build/rock-master-18.09-slam-odometry-0.20170815/src/State.hpp