mirror of https://github.com/ArduPilot/ardupilot
40 lines
1.2 KiB
C
40 lines
1.2 KiB
C
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/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include <AP_Common/AP_Common.h>
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#include <AP_HAL/AP_HAL.h>
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#include "AP_VisualOdom.h"
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class AP_VisualOdom_Backend
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{
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public:
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// constructor. This incorporates initialisation as well.
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AP_VisualOdom_Backend(AP_VisualOdom &frontend);
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// consume VISION_POSITION_DELTA MAVLink message
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virtual void handle_msg(mavlink_message_t *msg) {};
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protected:
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// set deltas (used by backend to update state)
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void set_deltas(const Vector3f &angle_delta, const Vector3f& position_delta, uint64_t time_delta_usec, float confidence);
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private:
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// references
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AP_VisualOdom &_frontend;
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};
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