velocities.hpp

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#pragma once
 
#include <rclcpp/rclcpp.hpp>
 
namespace common_lib::structures {
 
struct Velocities {
  double velocity_x = 0.0;
  double velocity_y = 0.0;
  double rotational_velocity = 0.0;
 
  double velocity_x_noise_ = 0.0;
  double velocity_y_noise_ = 0.0;
  double rotational_velocity_noise_ = 0.0;
 
  rclcpp::Time timestamp_ = rclcpp::Time(0);  //< Last time the velocities were updated
 
  Velocities() = default;
 
  Velocities(double velocity_x, double velocity_y, double rotational_velocity,
             double velocity_x_noise = 0.0, double velocity_y_noise = 0.0,
             double rotational_velocity_noise = 0.0, rclcpp::Time timestamp = rclcpp::Time(0));
};
 
}  // namespace common_lib::structures