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.