mavsdk::Mocap Class Reference
#include: mocap.h
This class allows users to get vehicle mocap and state information (e.g. battery, GPS, RC connection, flight mode etc.) and set mocap update rates.
Data Structures
struct AngleBody
struct AngularVelocityBody
struct AttitudePositionMocap
struct Odometry
struct PositionBody
struct Quaternion
struct SpeedBody
struct VisionPositionEstimate
Public Types
| Type | Description |
|---|---|
| enum Result | Results enum for mocap requests. |
| std::array< float, 21 > Covariance | Covariance type. |
Public Member Functions
| Type | Name | Description |
|---|---|---|
| Mocap (System & system) | Constructor. Creates the plugin for a specific System. | |
| ~Mocap () | Destructor (internal use only). | |
| Mocap (const Mocap &)=delete | Copy constructor (object is not copyable). | |
| Result | set_vision_position_estimate (VisionPositionEstimate vision_position_estimate) | Set the vision position. |
| Result | set_attitude_position_mocap (AttitudePositionMocap attitude_position_mocap) | Set the motion capture attitude and position. |
| Result | set_odometry (const Odometry & odometry) | Set the Odometry information. |
| const Mocap & | operator= (const Mocap &)=delete | Equality operator (object is not copyable). |
Static Public Member Functions
| Type | Name | Description |
|---|---|---|
| const char * | result_str (Result result) | Get human-readable English string for Mocap::Result. |
Constructor & Destructor Documentation
Mocap()
mavsdk::Mocap::Mocap(System &system)
Constructor. Creates the plugin for a specific System.
The plugin is typically created as shown below:
auto mocap = std::make_shared<Mocap>(system);
Parameters
- System& system - The specific system associated with this plugin.
~Mocap()
mavsdk::Mocap::~Mocap()
Destructor (internal use only).
Mocap()
mavsdk::Mocap::Mocap(const Mocap &)=delete
Copy constructor (object is not copyable).
Parameters
- const Mocap& -
Member Typdef Documentation
typedef Covariance
typedef std::array<float, 21> mavsdk::Mocap::Covariance
Covariance type.
Member Enumeration Documentation
enum Result
Results enum for mocap requests.
| Value | Description |
|---|---|
UNKNOWN |
Unknown error. |
SUCCESS |
Request succeeded. |
NO_SYSTEM |
No system connected. |
CONNECTION_ERROR |
Connection error. |
INVALID_REQUEST_DATA |
Invalid request data. |
Member Function Documentation
set_vision_position_estimate()
Result mavsdk::Mocap::set_vision_position_estimate(VisionPositionEstimate vision_position_estimate)
Set the vision position.
Parameters
- VisionPositionEstimate vision_position_estimate - Position
struct. Set time_usec to 0 to use internal timestamp.
Returns
Result -
set_attitude_position_mocap()
Result mavsdk::Mocap::set_attitude_position_mocap(AttitudePositionMocap attitude_position_mocap)
Set the motion capture attitude and position.
Parameters
- AttitudePositionMocap attitude_position_mocap - Position
struct. Set time_usec to 0 to use internal timestamp.
Returns
Result -
set_odometry()
Result mavsdk::Mocap::set_odometry(const Odometry &odometry)
Set the Odometry information.
Parameters
Returns
Result -
operator=()
const Mocap& mavsdk::Mocap::operator=(const Mocap &)=delete
Equality operator (object is not copyable).
Parameters
- const Mocap& -
Returns
const Mocap & -
result_str()
static const char* mavsdk::Mocap::result_str(Result result)
Get human-readable English string for Mocap::Result.
Parameters
- Result result - The enum value for which string is needed.
Returns
const char * - Human readable string for the Mocap::Result.