From b519d285a66f11c35a19ef111482b44664a2fd24 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Thu, 2 Apr 2020 21:04:44 +0900 Subject: [PATCH] AP_VisualOdom: get_orientation made public also remove unnecessary friends --- libraries/AP_VisualOdom/AP_VisualOdom.h | 8 +++----- 1 file changed, 3 insertions(+), 5 deletions(-) diff --git a/libraries/AP_VisualOdom/AP_VisualOdom.h b/libraries/AP_VisualOdom/AP_VisualOdom.h index 01801b1c00..bad93de03e 100644 --- a/libraries/AP_VisualOdom/AP_VisualOdom.h +++ b/libraries/AP_VisualOdom/AP_VisualOdom.h @@ -26,8 +26,6 @@ class AP_VisualOdom_Backend; class AP_VisualOdom { public: - friend class AP_VisualOdom_Backend; - friend class AP_VisualOdom_MAV; AP_VisualOdom(); @@ -51,6 +49,9 @@ public: // return true if sensor is basically healthy (we are receiving data) bool healthy() const; + // get user defined orientation + enum Rotation get_orientation() const { return (enum Rotation)_orientation.get(); } + // 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; } @@ -74,9 +75,6 @@ private: static AP_VisualOdom *_singleton; - // get user defined orientation - enum Rotation get_orientation() const { return (enum Rotation)_orientation.get(); } - // parameters AP_Int8 _type; AP_Vector3f _pos_offset; // position offset of the camera in the body frame