#include <gazebo_mavlink_interface.h>

Public Member Functions
	elevator_joint_ (nullptr)
	GazeboMavlinkInterface ()
	gimbal_pitch_joint_ (nullptr)
	gimbal_roll_joint_ (nullptr)
	gimbal_yaw_joint_ (nullptr)
	lat_rad_ (0.0)
	left_elevon_joint_ (nullptr)
	lon_rad_ (0.0)
	mavlink_udp_port_ (kDefaultMavlinkUdpPort)
	propeller_joint_ (nullptr)
void	Publish ()
	right_elevon_joint_ (nullptr)
	world_ (nullptr)
	~GazeboMavlinkInterface ()
Protected Member Functions
void	Load (physics::ModelPtr _model, sdf::ElementPtr _sdf)
void	OnUpdate (const common::UpdateInfo &)
Private Member Functions
void	handle_control (double _dt)
void	handle_message (mavlink_message_t *msg)
void	ImuCallback (ImuPtr &imu_msg)
void	LidarCallback (LidarPtr &lidar_msg)
void	OpticalFlowCallback (OpticalFlowPtr &opticalFlow_msg)
void	pollForMAVLinkMessages (double _dt, uint32_t _timeoutMs)
void	QueueThread ()
void	send_mavlink_message (const uint8_t msgid, const void *msg, uint8_t component_ID)
Private Attributes
socklen_t	addrlen_
unsigned char	buf_ [65535]
boost::thread	callback_queue_thread_
physics::JointPtr	elevator_joint_
common::PID	elevator_pid_
int	fd_
struct pollfd	fds_ [1]
physics::JointPtr	gimbal_pitch_joint_
physics::JointPtr	gimbal_roll_joint_
physics::JointPtr	gimbal_yaw_joint_
transport::PublisherPtr	gps_pub_
double	gps_update_interval_
ignition::math::Vector3d	gravity_W_
std::string	gztopic_ [kNOutMax]
transport::SubscriberPtr	imu_sub_
std::string	imu_sub_topic_
int	input_index_ [kNOutMax]
double	input_offset_ [kNOutMax]
Eigen::VectorXd	input_reference_
double	input_scaling_ [kNOutMax]
transport::PublisherPtr	joint_control_pub_ [kNOutMax]
std::string	joint_control_type_ [kNOutMax]
std::vector< physics::JointPtr >	joints_
common::Time	last_actuator_time_
common::Time	last_gps_time_
common::Time	last_time_
double	lat_rad_
physics::JointPtr	left_elevon_joint_
common::PID	left_elevon_pid_
transport::SubscriberPtr	lidar_sub_
std::string	lidar_sub_topic_
std::string	link_name_
double	lon_rad_
ignition::math::Vector3d	mag_d_
transport::SubscriberPtr	mav_control_sub_
in_addr_t	mavlink_addr_
std::string	mavlink_control_sub_topic_
int	mavlink_udp_port_
physics::ModelPtr	model_
transport::PublisherPtr	motor_velocity_reference_pub_
std::string	motor_velocity_reference_pub_topic_
struct sockaddr_in	myaddr_
	The locally bound address.
std::string	namespace_
transport::NodePtr	node_handle_
double	optflow_distance_
double	optflow_xgyro_
double	optflow_ygyro_
double	optflow_zgyro_
transport::SubscriberPtr	opticalFlow_sub_
std::string	opticalFlow_sub_topic_
std::vector< common::PID >	pids_
physics::JointPtr	propeller_joint_
common::PID	propeller_pid_
std::default_random_engine	random_generator_
bool	received_first_reference_
physics::JointPtr	right_elevon_joint_
common::PID	right_elevon_pid_
unsigned	rotor_count_
struct sockaddr_in	srcaddr_
	SITL instance.
struct sockaddr_in	srcaddr_2_
	MAVROS.
std::normal_distribution< float >	standard_normal_distribution_
event::ConnectionPtr	updateConnection_
	Pointer to the update event connection.
bool	use_elevator_pid_
bool	use_left_elevon_pid_
bool	use_propeller_pid_
bool	use_right_elevon_pid_
ignition::math::Vector3d	velocity_prev_W_
physics::WorldPtr	world_
double	zero_position_armed_ [kNOutMax]
double	zero_position_disarmed_ [kNOutMax]
Static Private Attributes
static const unsigned	kNOutMax = 16