MotionState3D Class Reference

Represents the full 3D motion state of a robot or vehicle. More...

#include <MotionState3D.h>

Inheritance diagram for MotionState3D:

Collaboration diagram for MotionState3D:

Public Member Functions
	MotionState3D (const Coordinate< DistanceM > &position, const Orientation3D &orientation, const Speed3D &speed, const AngularVelocity3D &angularVelocity)
Coordinate< DistanceM >	getPosition () const override
Orientation3D	getOrientation () const override
Speed3D	getSpeed () const override
AngularVelocity3D	getAngularVelocity () const override
virtual Coordinate< DistanceM >	getPosition () const =0
virtual Orientation3D	getOrientation () const =0
virtual Speed3D	getSpeed () const =0
virtual AngularVelocity3D	getAngularVelocity () const =0

Protected Attributes
Coordinate< DistanceM >	position
Orientation3D	orientation
Speed3D	speed
AngularVelocity3D	angularVelocity

Detailed Description

Represents the full 3D motion state of a robot or vehicle.

Encapsulates position, orientation, linear velocity, and angular velocity in 3D space. Provides a unified interface for state estimation, control, and sensor fusion modules.

Used throughout the TinyRobotics framework for odometry, IMU, fusion, and control logic.

Member Function Documentation

getAngularVelocity()

AngularVelocity3D getAngularVelocity ( ) const

inlineoverridevirtual

Implements IMotionState3D.

getOrientation()

Orientation3D getOrientation ( ) const

inlineoverridevirtual

Implements IMotionState3D.

getPosition()

Coordinate< DistanceM > getPosition ( ) const

inlineoverridevirtual

Implements IMotionState3D.

getSpeed()

Speed3D getSpeed ( ) const

inlineoverridevirtual

Implements IMotionState3D.

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

• src/TinyRobotics/control/MotionState3D.h