Entity handling utilities


// global functions

EntityBase& mola::entity_get_base(Entity& e);
const EntityBase& mola::entity_get_base(const Entity& e);
mrpt::math::TPose3D mola::entity_get_pose(const Entity& e);
mrpt::math::TTwist3D mola::entity_get_twist(const mola::Entity& e);

void mola::entity_update_pose(
    Entity& e,
    const mrpt::math::TPose3D& p

void mola::entity_update_vel(
    Entity& e,
    const std::array<double, 3>& v

mrpt::Clock::time_point mola::entity_get_timestamp(const Entity& e);

Global Functions

EntityBase& mola::entity_get_base(Entity& e)

Return a reference to the EntityBase associated to the variant e

const EntityBase& mola::entity_get_base(const Entity& e)

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.