SensorValueGlobalPoseCorrection Class Reference

The pose correction to obtain the robot's global pose. More...

#include <RobotAPI/components/units/RobotUnit/Devices/GlobalRobotPoseSensorDevice.h>

+ Inheritance diagram for SensorValueGlobalPoseCorrection:

Public Types

using Transformation = Eigen::Matrix4f
- Public Types inherited from SensorValueBase
template<class DerivedClass >
using SensorValueInfo = introspection::ClassMemberInfo< SensorValueBase, DerivedClass >

Public Member Functions

bool isAvailable () const
- Public Member Functions inherited from SensorValueBase
template<class T , class = typename std::enable_if<std::is_base_of<SensorValueBase, T>::value>::type>
void _copyTo (std::unique_ptr< T > &target) const
 ARMARX_META_MAKE_HAS_MEMBER_FNC_CHECK (SensorValueHasGetClassMemberInfo, GetClassMemberInfo, SensorValueInfo< T >(*)(void))
template<class T >
TasA ()
template<class T >
const TasA () const
template<class T >
T getDataFieldAs (std::size_t i) const
virtual void getDataFieldAs (std::size_t i, bool &out) const =0
virtual void getDataFieldAs (std::size_t i, Ice::Byte &out) const =0
virtual void getDataFieldAs (std::size_t i, Ice::Double &out) const =0
virtual void getDataFieldAs (std::size_t i, Ice::Float &out) const =0
virtual void getDataFieldAs (std::size_t i, Ice::Int &out) const =0
virtual void getDataFieldAs (std::size_t i, Ice::Long &out) const =0
virtual void getDataFieldAs (std::size_t i, Ice::Short &out) const =0
virtual void getDataFieldAs (std::size_t i, std::string &out) const =0
virtual std::vector< std::string > getDataFieldNames () const =0
virtual const std::type_info & getDataFieldType (std::size_t i) const =0
virtual std::size_t getNumberOfDataFields () const =0
virtual std::string getSensorValueType (bool withoutNamespaceSpecifier) const =0
template<class... Ts>
bool isA () const
virtual std::map< std::string, VariantBasePtrtoVariants (const IceUtil::Time &timestamp) const =0
 used to send the data to the DebugObserverTopic and to other Components (e.g. GUI widgets) More...
virtual ~SensorValueBase ()=default

Static Public Member Functions

static SensorValueInfo< SensorValueGlobalPoseCorrectionGetClassMemberInfo ()

Public Attributes

Transformation global_T_odom = Transformation::Identity()

Detailed Description

The pose correction to obtain the robot's global pose.

In conjunction with the SensorValueHolonomicPlatformRelativePosition information, the global robot pose can be obtained which

  • provides the robot's initial localization within the map
  • compensates odometry drift over time.

Definition at line 26 of file GlobalRobotPoseSensorDevice.h.

Member Typedef Documentation

◆ Transformation

using Transformation = Eigen::Matrix4f

Definition at line 29 of file GlobalRobotPoseSensorDevice.h.

Member Function Documentation

◆ GetClassMemberInfo()

Definition at line 10 of file GlobalRobotPoseSensorDevice.cpp.

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◆ isAvailable()

bool isAvailable ( ) const

Definition at line 19 of file GlobalRobotPoseSensorDevice.cpp.

Member Data Documentation

◆ global_T_odom

Transformation global_T_odom = Transformation::Identity()

Definition at line 30 of file GlobalRobotPoseSensorDevice.h.

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