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add func get Pose/Increment

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Jeremie Deray
2017-05-16 11:51:09 +02:00
committed by Jeremie Deray
parent 241358540a
commit c3d22b8780
3 changed files with 33 additions and 13 deletions
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8
include/rf2o_laser_odometry/CLaserOdometry2D.h
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@@ -79,6 +79,12 @@ protected:
void setLaserPose(const tf::Transform& laser_pose);
mrpt::poses::CPose3D& getIncrement();
const mrpt::poses::CPose3D& getIncrement() const;
mrpt::poses::CPose3D& getPose();
const mrpt::poses::CPose3D& getPose() const;
protected:
bool module_initialized,first_laser_scan;
@@ -137,6 +143,8 @@ protected:
mrpt::math::CMatrixFloat31 kai_loc_old;
mrpt::math::CMatrixFloat31 kai_loc_level;
mrpt::poses::CPose3D last_increment;
mrpt::poses::CPose3D laser_pose_on_robot;
mrpt::poses::CPose3D laser_pose_on_robot_inv;