9 #ifndef CRobot2DPoseEstimator_H 10 #define CRobot2DPoseEstimator_H 38 void processUpdateNewPoseLocalization(
44 void processUpdateNewOdometry(
47 bool hasVelocities =
false,
71 bool getLatestRobotPose(
CPose2D &pose)
const;
76 max_odometry_age ( 1.0 ),
77 max_localiz_age ( 4.0 )
102 static void extrapolateRobotPose(
106 const double delta_time,
uint64_t TTimeStamp
A system independent time type, it holds the the number of 100-nanosecond intervals since January 1...
This class provides simple critical sections functionality.
mrpt::math::TPose2D m_loc_odo_ref
The interpolated odometry position for the last "m_robot_pose" (used as "coordinates base" for subseq...
double max_odometry_age
To consider data old, in seconds.
mrpt::system::TTimeStamp now()
A shortcut for system::getCurrentTime.
A simple filter to estimate and extrapolate the robot 2D (x,y,phi) pose from asynchronous odometry an...
mrpt::math::CMatrixDouble33 m_last_loc_cov
A numeric matrix of compile-time fixed size.
mrpt::math::TPose2D m_last_loc
Last pose as estimated by the localization/SLAM subsystem.
mrpt::synch::CCriticalSection m_cs
mrpt::system::TTimeStamp m_last_loc_time
mrpt::system::TTimeStamp m_last_odo_time
double max_localiz_age
To consider data old, in seconds.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
A class used to store a 2D pose.
TOptions params
parameters of the filter.
mrpt::math::TPose2D m_last_odo