Struct Odometry 

pub struct Odometry {
    pub timestamp: u64,
    pub position: [f32; 3],
    pub orientation: [f32; 4],
    pub linear_velocity: [f32; 3],
    pub angular_velocity: [f32; 3],
    pub frame_id: Option<String>,
    pub child_frame_id: Option<String>,
}

Odometry data (position and velocity)

Represents the robot’s estimated position and velocity

Fields

timestamp: u64

Timestamp in microseconds since epoch

position: [f32; 3]

Position (x, y, z) in meters

orientation: [f32; 4]

Orientation as quaternion (x, y, z, w)

linear_velocity: [f32; 3]

Linear velocity (x, y, z) in m/s

angular_velocity: [f32; 3]

Angular velocity (x, y, z) in rad/s

frame_id: Option<String>

Optional frame ID

child_frame_id: Option<String>

Optional child frame ID

Implementations

impl Odometry

pub fn new() -> Self

Creates a new odometry message at the origin

pub fn position_2d(&self) -> (f32, f32)

Returns the 2D position (x, y)

pub fn velocity_2d(&self) -> (f32, f32)

Returns the 2D linear velocity (vx, vy)

pub fn speed(&self) -> f32

Returns the speed (magnitude of velocity) in m/s

pub fn yaw(&self) -> f32

Returns the yaw angle in radians (rotation around z-axis)

pub fn distance_to(&self, other: &Odometry) -> f32

Calculates distance to another position in meters

pub fn distance_2d_to(&self, other: &Odometry) -> f32

Calculates 2D distance to another position in meters

Trait Implementations

impl Clone for Odometry

fn clone(&self) -> Odometry

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for Odometry

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Default for Odometry

fn default() -> Self

Returns the “default value” for a type.

impl<'de> Deserialize<'de> for Odometry

fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl Serialize for Odometry

fn serialize<__S>(&self, __serializer: __S) -> Result<__S::Ok, __S::Error>

where __S: Serializer,

Serialize this value into the given Serde serializer.

impl Message for Odometry