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Odometry: added getter previousVelocityTransform()

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matlabbe
2016-03-09 16:04:58 -05:00
parent 2a83bc7f07
commit b634b34a65
1 changed files with 1 additions and 0 deletions
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corelib/include/rtabmap/core/Odometry.h
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@@ -60,6 +60,7 @@ public:
//getters //getters
const Transform & getPose() const {return _pose;} const Transform & getPose() const {return _pose;}
bool isInfoDataFilled() const {return _fillInfoData;} bool isInfoDataFilled() const {return _fillInfoData;}
const Transform & previousVelocityTransform() const {return previousVelocityTransform_;}
private: private:
virtual Transform computeTransform(SensorData & data, const Transform & guess = Transform(), OdometryInfo * info = 0) = 0; virtual Transform computeTransform(SensorData & data, const Transform & guess = Transform(), OdometryInfo * info = 0) = 0;