Carmen
Class OdometryMessage

java.lang.Object
  Carmen.Message
      Carmen.OdometryMessage

public class OdometryMessage
extends Message

Carmen OdometryHandler's message

Field Summary

double	acceleration robot acceleration (m/s^2)
double	rv commanded translational (m/s) and rotational (r/s) velocity
double	theta robot pose at the center of the robot
double	tv commanded translational (m/s) and rotational (r/s) velocity
double	x robot pose at the center of the robot
double	y robot pose at the center of the robot

Fields inherited from class Carmen.Message

host, timestamp

Constructor Summary

OdometryMessage()

Method Summary

static void

subscribe(OdometryHandler handler) Application module calls this to subscribe to OdometryMessage.

Methods inherited from class Carmen.Message

publish, subscribe

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

x

public double x

robot pose at the center of the robot

y

public double y

robot pose at the center of the robot

theta

public double theta

robot pose at the center of the robot

tv

public double tv

commanded translational (m/s) and rotational (r/s) velocity

rv

public double rv

commanded translational (m/s) and rotational (r/s) velocity

acceleration

public double acceleration

robot acceleration (m/s^2)

Constructor Detail

OdometryMessage

public OdometryMessage()

Method Detail

subscribe

public static void subscribe(OdometryHandler handler)

Application module calls this to subscribe to OdometryMessage. Application module must extend OdometryHandler.