OdomState

Represents robot odometry pose and velocity.

Properties:

Property	Type	Description
header	Header	Odometry metadata header

Read-only properties:

Property	Type	Description
position	np.ndarray	Position [x, y, z], unit m
orientation	np.ndarray	Quaternion [x, y, z, w]
linear_velocity	np.ndarray | None	Linear velocity [x, y, z], unit m/s
angular_velocity	np.ndarray | None	Angular velocity [x, y, z], unit rad/s
timestamp	float	Second-precision timestamp, equivalent to header.timestamp
frame_id	str	Reference frame, equivalent to header.frame_id
child_frame_id	str	Child frame
rpy	np.ndarray	Euler angles [roll, pitch, yaw], unit rad; computed from orientation
pose_2d	np.ndarray	Planar pose [x, y, yaw]

OdomState

Signature:

OdomState(
    child_frame_id: str,
    position: np.ndarray,
    orientation: np.ndarray,
    linear_velocity: np.ndarray | None = None,
    angular_velocity: np.ndarray | None = None,
    pose_covariance: np.ndarray | None = None,
    twist_covariance: np.ndarray | None = None,
    header: Header | None = None,
)

Description:

Construct an OdomState instance.

Parameters:

Parameter	Type	Required	Description
child_frame_id	str	Yes	Child frame
position	np.ndarray	Yes	Position [x, y, z], unit m
orientation	np.ndarray	Yes	Quaternion [x, y, z, w]
linear_velocity	np.ndarray | None	No	Linear velocity [x, y, z], unit m/s
angular_velocity	np.ndarray | None	No	Angular velocity [x, y, z], unit rad/s
pose_covariance	np.ndarray | None	No	Pose 6x6 covariance matrix
twist_covariance	np.ndarray | None	No	Velocity 6x6 covariance matrix
header	Header | None	No	Odometry metadata header; when not provided or set to None, uses default Header

Returns:

OdomState instance.

Raises:

None.

to_numpy

Signature:

OdomState.to_numpy() -> dict[str, np.ndarray]

Description:

Returns a dictionary of all available vectors and covariance matrices. Includes position / orientation / rpy; optional fields linear_velocity / angular_velocity / pose_covariance / twist_covariance are included when not empty.

Parameters:

No parameters.

Returns:

dict[str, np.ndarray].

Raises:

None.