.. _pilot.VelocityCmd:

pilot.VelocityCmd
=================

.. cpp:namespace:: pilot::VelocityCmd

Class
-----

`VelocityCmd` contains the current commanded platform velocity. Usually only X / Y velocity and yawrate are specified.

Inherits from :ref:`pilot.Sample`.


Fields
------

.. cpp:member:: Vector3f linear

	3D (x, y, z) translational velocity in [m/s].
	
.. cpp:member:: Vector3f angular

	3D (roll, pitch, yaw) angular velocity in [rad/s].
	
.. cpp:member:: bool allow_wheel_reset = true
	
	If to allow automatic wheel resetting of an MPO-700.
	
.. cpp:member:: bool reset_wheels = false
	
	If to reset the wheels of an MPO-700 to their home position, when not moving.