Produced by corridor_navigation::ServoingTask.debug_laser_frame dvl_teledyne::Task.velocity_samples dynamixel::Task.lowerDynamixel2UpperDynamixel fog_kvh::Dsp3000Task.orientation_samples gps::BaseTask.position_samples gps::BaseTask.position_samples gps::BaseTask.position_samples laser_filter::Task.debug_laser_frame odometry::Generic.odometry_samples odometry::Generic.odometry_delta_samples odometry::Generic.odometry_samples odometry::Generic.odometry_delta_samples odometry::Generic.odometry_samples odometry::Generic.odometry_delta_samples orientation_estimator::BaseEstimator.attitude_b_g orientation_estimator::IKFEstimator.attitude_b_g orientation_estimator::UKFEstimator.attitude_b_g qualisys::Task.body_samples rock_tutorial::RockTutorialControl.pose_samples sonar_tritech::Echosounder.ground_distance sonar_tritech::Micron.ground_distance vicon::Task.pose_samples xsens_imu::Task.orientation_samples

Consumed by corridor_navigation::FollowingTask.pose_samples corridor_navigation::ServoingTask.odometry_samples corridor_navigation::ServoingTask.dynamic_transformations graph_slam::Task.odometry_delta_samples graph_slam::Task.dynamic_transformations laser_filter::Task.dynamic_transformations odometry::ContactPointTask.dynamic_transformations odometry::Skid4OdometryTask.dynamic_transformations orientation_estimator::BaseEstimator.imu_orientation orientation_estimator::IKFEstimator.imu_orientation orientation_estimator::UKFEstimator.imu_orientation tilt_scan::Task.dynamic_transformations trajectory_follower::Task.pose tut_follower::Task.target_position tut_follower::Task.current_position tut_sensor::Task.target_frame tut_sensor::Task.local_frame waypoint_navigation::Task.pose

General Info

This type is exported by the base typekit

• it can be used in task interfaces
• it can be used in other oroGen projects by adding
  
  import_types_from "base"

C++

• time: /base/Time
• sourceFrame: /std/string</int8_t>
• targetFrame: /std/string</int8_t>
• position: /base/Vector3d
• cov_position: /base/Matrix3d
• orientation: /base/Quaterniond
• cov_orientation: /base/Matrix3d
• velocity: /base/Vector3d
• cov_velocity: /base/Matrix3d
• angular_velocity: /base/Vector3d
• cov_angular_velocity: /base/Matrix3d

Logging

This type cannot be logged directly. It is first converted to the /base/samples/RigidBodyState_m type, whose definition follows

• time: /base/Time
• sourceFrame: /std/string</int8_t>
• targetFrame: /std/string</int8_t>
• position: /wrappers/Matrix</double,3,1>
• cov_position: /wrappers/Matrix</double,3,3>
• orientation: /wrappers/Quaternion</double>
• cov_orientation: /wrappers/Matrix</double,3,3>
• velocity: /wrappers/Matrix</double,3,1>
• cov_velocity: /wrappers/Matrix</double,3,3>
• angular_velocity: /wrappers/Matrix</double,3,1>
• cov_angular_velocity: /wrappers/Matrix</double,3,3>

Ruby

• time: Time
• sourceFrame: String
• targetFrame: String
• position: Eigen::Vector3
• cov_position: /wrappers/Matrix</double,3,3>
• orientation: Eigen::Quaternion
• cov_orientation: /wrappers/Matrix</double,3,3>
• velocity: Eigen::Vector3
• cov_velocity: /wrappers/Matrix</double,3,3>
• angular_velocity: Eigen::Vector3
• cov_angular_velocity: /wrappers/Matrix</double,3,3>