State Struct Reference

Full kinematic state of the vehicle. More...

#include <Types.h>

Public Attributes
Pose	pose {}
	6DOF pose (position + orientation) in the world frame More...
Vector6d	twist = Vector6d::Zero()
	Body-frame velocity [u, v, w, p, q, r] in m/s and rad/s. More...
Vector6d	acceleration = Vector6d::Zero()
	Body-frame acceleration [ax, ay, az, αx, αy, αz] in m/s² and rad/s² More...

Detailed Description

Full kinematic state of the vehicle.

Pose is expressed in the world frame. Twist and acceleration are expressed in the body frame, following the nav_msgs/Odometry convention.

Member Data Documentation

acceleration

Vector6d State::acceleration = Vector6d::Zero()

Body-frame acceleration [ax, ay, az, αx, αy, αz] in m/s² and rad/s²

pose

Pose State::pose {}

6DOF pose (position + orientation) in the world frame

twist

Vector6d State::twist = Vector6d::Zero()

Body-frame velocity [u, v, w, p, q, r] in m/s and rad/s.

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

• include/utils/Types.h