OdometryData

Fully qualified name: isaacsim::ucx::nodes::OdometryData

struct OdometryData

Data structure for odometry message payload.

Contains computed odometry data including relative pose and body-frame velocities/accelerations. All values are in body frame relative to the starting pose.

Public Members

double timestamp

Timestamp value in seconds.

std::array<double, 3> position

Relative position (x, y, z) in body frame.

std::array<double, 4> orientation

Relative orientation quaternion (w, x, y, z)

std::array<double, 3> linearVelocity

Linear velocity (x, y, z) in body frame.

std::array<double, 3> angularVelocity

Angular velocity (x, y, z) in body frame.

std::array<double, 3> linearAcceleration

Linear acceleration (x, y, z) in body frame.

std::array<double, 3> angularAcceleration

Angular acceleration (x, y, z) in body frame.