mavsdk::Mocap Class Reference
#include: mocap.h
Allows interfacing a vehicle with a motion capture system in order to allow navigation without global positioning sources available (e.g. indoors, or when flying under a bridge. etc.).
Data Structures
struct AngleBody
struct AngularVelocityBody
struct AttitudePositionMocap
struct Covariance
struct Odometry
struct PositionBody
struct Quaternion
struct SpeedBody
struct VisionPositionEstimate
Public Types
| Type | Description |
|---|---|
| enum Result | Possible results returned for mocap requests. |
| std::function< void(Result)> ResultCallback | Callback type for asynchronous Mocap calls. |
Public Member Functions
| Type | Name | Description |
|---|---|---|
| Mocap (System & system) | Constructor. Creates the plugin for a specific System. | |
| Mocap (std::shared_ptr< System > system) | Constructor. Creates the plugin for a specific System. | |
| ~Mocap () override | Destructor (internal use only). | |
| Mocap (const Mocap & other) | Copy constructor. | |
| Result | set_vision_position_estimate (VisionPositionEstimate vision_position_estimate)const | Send Global position/attitude estimate from a vision source. |
| Result | set_attitude_position_mocap (AttitudePositionMocap attitude_position_mocap)const | Send motion capture attitude and position. |
| Result | set_odometry (Odometry odometry)const | Send odometry information with an external interface. |
| const Mocap & | operator= (const Mocap &)=delete | Equality operator (object is not copyable). |
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 = Mocap(system);
Parameters
- System& system - The specific system associated with this plugin.
Mocap()
mavsdk::Mocap::Mocap(std::shared_ptr< System > system)
Constructor. Creates the plugin for a specific System.
The plugin is typically created as shown below:
auto mocap = Mocap(system);
Parameters
- std::shared_ptr< System > system - The specific system associated with this plugin.
~Mocap()
mavsdk::Mocap::~Mocap() override
Destructor (internal use only).
Mocap()
mavsdk::Mocap::Mocap(const Mocap &other)
Copy constructor.
Parameters
- const Mocap& other -
Member Typdef Documentation
typedef ResultCallback
using mavsdk::Mocap::ResultCallback = std::function<void(Result)>
Callback type for asynchronous Mocap calls.
Member Enumeration Documentation
enum Result
Possible results returned for mocap requests.
| Value | Description |
|---|---|
Unknown |
Unknown error. |
Success |
Request succeeded. |
NoSystem |
No system is connected. |
ConnectionError |
Connection error. |
InvalidRequestData |
Invalid request data. |
Unsupported |
Function unsupported. |
Member Function Documentation
set_vision_position_estimate()
Result mavsdk::Mocap::set_vision_position_estimate(VisionPositionEstimate vision_position_estimate) const
Send Global position/attitude estimate from a vision source.
This function is blocking.
Parameters
- VisionPositionEstimate vision_position_estimate -
Returns
Result - Result of request.
set_attitude_position_mocap()
Result mavsdk::Mocap::set_attitude_position_mocap(AttitudePositionMocap attitude_position_mocap) const
Send motion capture attitude and position.
This function is blocking.
Parameters
- AttitudePositionMocap attitude_position_mocap -
Returns
Result - Result of request.
set_odometry()
Result mavsdk::Mocap::set_odometry(Odometry odometry) const
Send odometry information with an external interface.
This function is blocking.
Parameters
- Odometry odometry -
Returns
Result - Result of request.
operator=()
const Mocap& mavsdk::Mocap::operator=(const Mocap &)=delete
Equality operator (object is not copyable).
Parameters
- const Mocap& -
Returns
const Mocap & -