mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-02 14:13:42 -04:00
1615038e57
* The function takes position (linear) + orientation (angular), therefore it's a pose, not a position Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
24 lines
798 B
C++
24 lines
798 B
C++
#pragma once
|
|
|
|
#include "AP_VisualOdom_config.h"
|
|
|
|
#if AP_VISUALODOM_MAV_ENABLED
|
|
|
|
#include "AP_VisualOdom_Backend.h"
|
|
|
|
class AP_VisualOdom_MAV : public AP_VisualOdom_Backend
|
|
{
|
|
|
|
public:
|
|
// constructor
|
|
using AP_VisualOdom_Backend::AP_VisualOdom_Backend;
|
|
|
|
// consume vision pose estimate data and send to EKF. distances in meters
|
|
void handle_pose_estimate(uint64_t remote_time_us, uint32_t time_ms, float x, float y, float z, const Quaternion &attitude, float posErr, float angErr, uint8_t reset_counter) override;
|
|
|
|
// consume vision velocity estimate data and send to EKF, velocity in NED meters per second
|
|
void handle_vision_speed_estimate(uint64_t remote_time_us, uint32_t time_ms, const Vector3f &vel, uint8_t reset_counter) override;
|
|
};
|
|
|
|
#endif // AP_VISUALODOM_MAV_ENABLED
|