ardupilot/libraries/AP_VisualOdom/AP_VisualOdom.h

102 lines
3.4 KiB
C++

/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include <AP_Common/AP_Common.h>
#include <AP_HAL/AP_HAL.h>
#include <AP_Param/AP_Param.h>
#include <GCS_MAVLink/GCS.h>
class AP_VisualOdom_Backend;
#define AP_VISUALODOM_TIMEOUT_MS 300
class AP_VisualOdom
{
public:
friend class AP_VisualOdom_Backend;
AP_VisualOdom();
// get singleton instance
static AP_VisualOdom *get_singleton() {
return _singleton;
}
// external position backend types (used by _TYPE parameter)
enum AP_VisualOdom_Type {
AP_VisualOdom_Type_None = 0,
AP_VisualOdom_Type_MAV = 1
};
// The VisualOdomState structure is filled in by the backend driver
struct VisualOdomState {
Vector3f angle_delta; // attitude delta (in radians) of most recent update
Vector3f position_delta; // position delta (in meters) of most recent update
uint64_t time_delta_usec; // time delta (in usec) between previous and most recent update
float confidence; // confidence expressed as a value from 0 (no confidence) to 100 (very confident)
uint32_t last_sensor_update_ms; // system time (in milliseconds) of last update from sensor
uint32_t last_processed_sensor_update_ms; // timestamp of last sensor update that was processed
};
// detect and initialise any sensors
void init();
// should be called really, really often. The faster you call
// this the lower the latency of the data fed to the estimator.
void update();
// return true if sensor is enabled
bool enabled() const;
// return true if sensor is basically healthy (we are receiving data)
bool healthy() const;
// return a 3D vector defining the position offset of the camera in meters relative to the body frame origin
const Vector3f &get_pos_offset(void) const { return _pos_offset; }
// consume data from MAVLink messages
void handle_msg(mavlink_message_t *msg);
static const struct AP_Param::GroupInfo var_info[];
private:
static AP_VisualOdom *_singleton;
// state accessors
const Vector3f &get_angle_delta() const { return _state.angle_delta; }
const Vector3f &get_position_delta() const { return _state.position_delta; }
uint64_t get_time_delta_usec() const { return _state.time_delta_usec; }
float get_confidence() const { return _state.confidence; }
uint32_t get_last_update_ms() const { return _state.last_sensor_update_ms; }
// parameters
AP_Int8 _type;
AP_Vector3f _pos_offset; // position offset of the camera in the body frame
AP_Int8 _orientation; // camera orientation on vehicle frame
// reference to backends
AP_VisualOdom_Backend *_driver;
// state of backend
VisualOdomState _state;
};
namespace AP {
AP_VisualOdom *visualodom();
};