26 lines
604 B
C++
26 lines
604 B
C++
#pragma once
|
|
|
|
#include <Eigen/Core>
|
|
#include <string>
|
|
|
|
namespace gtsam {
|
|
|
|
/**
|
|
* \brief This is the base class for all measurement types.
|
|
*/
|
|
class Measurement {
|
|
public:
|
|
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
|
|
size_t dt; ///< Time since the last message of this type (nanoseconds).
|
|
size_t time; ///< ROS time message recieved (nanoseconds).
|
|
///< The type of message (to enable dynamic/static casting).
|
|
std::string type;
|
|
|
|
Measurement() : dt(0), time(0), type("UNDEFINED") {}
|
|
Measurement(std::string _type) : dt(0), time(0), type(_type) {}
|
|
|
|
virtual ~Measurement() {}
|
|
};
|
|
|
|
} // namespace gtsam
|