mirror of https://github.com/ArduPilot/ardupilot
34 lines
1.0 KiB
C++
34 lines
1.0 KiB
C++
// Class for handling external localization data.
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// For historical reasons, it's called odometry to match AP_VisualOdom.
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#pragma once
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#include "AP_DDS_config.h"
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#if AP_DDS_VISUALODOM_ENABLED
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#include "geometry_msgs/msg/TransformStamped.h"
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#include "tf2_msgs/msg/TFMessage.h"
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#include "AP_Math/vector3.h"
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#include "AP_Math/quaternion.h"
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class AP_DDS_External_Odom
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{
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public:
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// Handler for external position localization
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static void handle_external_odom(const tf2_msgs_msg_TFMessage& msg);
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// Checks the child and parent frames match a set needed for external odom.
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// Since multiple different transforms can be sent, this validates the specific transform is
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// for odometry.
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static bool is_odometry_frame(const geometry_msgs_msg_TransformStamped& msg);
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// Helper to convert from ROS transform to AP datatypes
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// ros_transform is in ENU
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// translation is in NED
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static void convert_transform(const geometry_msgs_msg_Transform& ros_transform, Vector3f& translation, Quaternion& rotation);
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};
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#endif // AP_DDS_VISUALODOM_ENABLED
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