AutoCar  v1.0.0
vel2odom.h
1 #ifndef VEL2ODOM_H
2 #define VEL2ODOM_H
3 #include <ros/ros.h>
4 #include <tf/transform_broadcaster.h>
5 namespace autocar
6 {
7 namespace odom_mul
8 {
9 class vel2odom
10 {
11 public:
12  vel2odom();
16  void cal_odom();
17 
18 public:
19  double x;
20  double y;
21  double th;
22 
23  double vx;
24  double vy;
25  double vth;
26  geometry_msgs::Quaternion odom_quat; //< the quaternion of the car attitude
27  ros::Time current_time;
28  ros::Time last_time;
29 };
30 }
31 }
32 
33 #endif // VEL2ODOM_H
void cal_odom()
Calculating odom from velocity.
double vy
y-axis velocity of the car
Definition: vel2odom.h:24
double vth
yaw-axis velocity of the car
Definition: vel2odom.h:25
Definition: vel2odom.h:5
double th
yaw-axis coordinates of the car in map
Definition: vel2odom.h:21
Definition: vel2odom.h:9
double vx
x-axis velocity of the car
Definition: vel2odom.h:23
double x
X-axis coordinates of the car in map.
Definition: vel2odom.h:19
double y
y-axis coordinates of the car in map
Definition: vel2odom.h:20