.. _file_include_odometry_odometry.hpp:

File odometry.hpp
=================

|exhale_lsh| :ref:`Parent directory <dir_include_odometry>` (``include/odometry``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS



Defines the :ref:`exhale_class_classOdometry` class that provides different odometry reconstruction methods. 



.. contents:: Contents
   :local:
   :backlinks: none

Definition (``include/odometry/odometry.hpp``)
----------------------------------------------




Detailed Description
--------------------

This class offers implementations for:

- Euler integration

- Runge-Kutta 2nd and 4th order integration

- Kalman filtering for sensor fusion (TBD)



The class is independent of ROS and can be used with any framework. 




Includes
--------


- ``armadillo``

- ``cmath``



Included By
-----------


- :ref:`file_include_odometry_odometry_node.hpp`




Classes
-------


- :ref:`exhale_struct_structOdometryState`

- :ref:`exhale_class_classOdometry`