Abstract interface for 3D odometry models. Provides access to current linear and angular velocities for Odometry3D. More...

Inheritance diagram for IOdometryModel3D:

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Collaboration diagram for IOdometryModel3D:

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Public Member Functions
virtual void	registerCallback (void(callback)(void ), void *userData)
	Register a callback to be invoked on relevant events (e.g., input change, update).

virtual void	getLinearVelocity (float &vx, float &vy, float &vz) const =0
	Get the current linear velocity (vx, vy, vz) in m/s (robot frame).

virtual void	getAngularVelocity (float &wx, float &wy, float &wz) const =0
	Get the current angular velocity (wx, wy, wz) in rad/s (robot frame).

Public Member Functions inherited from MessageHandler
virtual bool	onMessage (const Message< float > &msg)=0
	Handle an incoming message (pure virtual).

virtual bool	onMessage (const Message< Coordinate< float > > &msg)

virtual bool	onMessage (const Message< GPSCoordinate > &msg)

virtual bool	onMessage (const Message< MotionState3D > &msg)

Detailed Description

Abstract interface for 3D odometry models. Provides access to current linear and angular velocities for Odometry3D.

Member Function Documentation

virtual void getAngularVelocity	(	float &	wx,
		float &	wy,
		float &	wz
	)		const

pure virtual

Get the current angular velocity (wx, wy, wz) in rad/s (robot frame).

virtual void getLinearVelocity	(	float &	vx,
		float &	vy,
		float &	vz
	)		const

pure virtual

Get the current linear velocity (vx, vy, vz) in m/s (robot frame).

virtual void registerCallback	(	void()(void )	callback,
		void *	userData
	)

inlinevirtual

Register a callback to be invoked on relevant events (e.g., input change, update).

Parameters

callback	Function pointer with signature void callback(void* userData)
userData	User-provided pointer passed to the callback

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