.. _pilot.Odometry:

pilot.Odometry
==============

.. cpp:namespace:: pilot::Odometry

Class
-----

`Odometry` contains information about the platform's odometry, as well as velocities. See also :ref:`coordinate_systems`.

Inherits from :ref:`basic.Transform3D`.


Fields
------

.. cpp:member:: Vector3d position
	
	Current 3D (x, y, z) [m] ``odom`` position.
	
.. cpp:member:: Vector3d orientation
	
	Current 3D (roll, pitch, yaw) [rad] ``odom`` orientation.
	
.. cpp:member:: Vector3f linear_velocity
	
	Current 3D (x, y, z) [m/s] ``odom`` velocity.
	
.. cpp:member:: Vector3f angular_velocity
	
	Current 3D (roll, pitch, yaw) [rad/s] ``odom`` angular velocity.