mavsdk::Mocap::Odometry Struct Reference

#include: mocap.h


Odometry information with an external interface type.

Public Types

Type Description
enum MavFrame Mavlink frame id.

Data Fields

uint64_t time_usec {} - Timestamp (0 to use Backend timestamp).

MavFrame frame_id {} - Coordinate frame of reference for the pose data.

PositionBody position_body {} - Body position.

Quaternion q {} - Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation).

SpeedBody speed_body {} - Body linear speed (m/s).

AngularVelocityBody angular_velocity_body {} - Body angular speed (rad/s).

Covariance pose_covariance {} - Row-major representation of a 6x6 pose cross-covariance matrix upper right triangle. Set first to NaN if unknown.

Covariance velocity_covariance {} - Row-major representation of a 6x6 velocity cross-covariance matrix upper right triangle. Set first to NaN if unknown.

Member Enumeration Documentation

enum MavFrame

Mavlink frame id.

Value Description
UNKNOWN Unknown frame.
MOCAP_NED Odometry local coordinate frame of data given by a motion capture system, Z-down (x: north, y: east, z: down).
LOCAL_FRD Forward, Right, Down coordinate frame. This is a local frame with Z-down and arbitrary F/R alignment (i.e. not aligned with NED/earth frame). Replacement for MAV_FRAME_MOCAP_NED, MAV_FRAME_VISION_NED, MAV_FRAME_ESTIM_NED.

Field Documentation

time_usec

uint64_t mavsdk::Mocap::Odometry::time_usec {}

Timestamp (0 to use Backend timestamp).

frame_id

MavFrame mavsdk::Mocap::Odometry::frame_id {}

Coordinate frame of reference for the pose data.

position_body

PositionBody mavsdk::Mocap::Odometry::position_body {}

Body position.

q

Quaternion mavsdk::Mocap::Odometry::q {}

Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation).

speed_body

SpeedBody mavsdk::Mocap::Odometry::speed_body {}

Body linear speed (m/s).

angular_velocity_body

AngularVelocityBody mavsdk::Mocap::Odometry::angular_velocity_body {}

Body angular speed (rad/s).

pose_covariance

Covariance mavsdk::Mocap::Odometry::pose_covariance {}

Row-major representation of a 6x6 pose cross-covariance matrix upper right triangle. Set first to NaN if unknown.

velocity_covariance

Covariance mavsdk::Mocap::Odometry::velocity_covariance {}

Row-major representation of a 6x6 velocity cross-covariance matrix upper right triangle. Set first to NaN if unknown.

© Dronecode 2017-2019. License: CC BY 4.0            Updated: 2019-11-05 22:22:21

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