mavros::ftf Namespace Reference

Namespaces
	detail

Typedefs
using	Covariance3d = sensor_msgs::Imu::_angular_velocity_covariance_type
	Type matching rosmsg for 3x3 covariance matrix. More...
using	Covariance6d = geometry_msgs::PoseWithCovariance::_covariance_type
	Type matching rosmsg for 6x6 covariance matrix. More...
using	Covariance9d = boost::array< double, 81 >
	Type matching rosmsg for 9x9 covariance matrix. More...
using	EigenMapConstCovariance3d = Eigen::Map< const Eigen::Matrix< double, 3, 3, Eigen::RowMajor > >
using	EigenMapConstCovariance6d = Eigen::Map< const Eigen::Matrix< double, 6, 6, Eigen::RowMajor > >
using	EigenMapConstCovariance9d = Eigen::Map< const Eigen::Matrix< double, 9, 9, Eigen::RowMajor > >
using	EigenMapCovariance3d = Eigen::Map< Eigen::Matrix< double, 3, 3, Eigen::RowMajor > >
	Eigen::Map for Covariance3d. More...
using	EigenMapCovariance6d = Eigen::Map< Eigen::Matrix< double, 6, 6, Eigen::RowMajor > >
	Eigen::Map for Covariance6d. More...
using	EigenMapCovariance9d = Eigen::Map< Eigen::Matrix< double, 9, 9, Eigen::RowMajor > >
	Eigen::Map for Covariance9d. More...

Enumerations
enum	StaticEcefTF { StaticEcefTF::ECEF_TO_ENU, StaticEcefTF::ENU_TO_ECEF }
	Orientation transform options when applying rotations to data, for ECEF. More...
enum	StaticTF {   StaticTF::NED_TO_ENU, StaticTF::ENU_TO_NED, StaticTF::AIRCRAFT_TO_BASELINK, StaticTF::BASELINK_TO_AIRCRAFT,   StaticTF::ABSOLUTE_FRAME_AIRCRAFT_TO_BASELINK, StaticTF::ABSOLUTE_FRAME_BASELINK_TO_AIRCRAFT }
	Orientation transform options when applying rotations to data. More...

Functions
template<class T , std::size_t SIZE>
void	covariance_to_mavlink (const T &cov, std::array< float, SIZE > &covmsg)
	Convert covariance matrix to MAVLink float[n] format. More...
template<class T , std::size_t ARR_SIZE>
void	covariance_urt_to_mavlink (const T &covmap, std::array< float, ARR_SIZE > &covmsg)
	Convert upper right triangular of a covariance matrix to MAVLink float[n] format. More...
Eigen::Quaterniond	mavlink_to_quaternion (const std::array< float, 4 > &q)
	Convert Mavlink float[4] quaternion to Eigen. More...
template<class T , std::size_t ARR_SIZE>
void	mavlink_urt_to_covariance_matrix (const std::array< float, ARR_SIZE > &covmsg, T &covmat)
	Convert MAVLink float[n] format (upper right triangular of a covariance matrix) to Eigen::MatrixXd<n,n> full covariance matrix. More...
Eigen::Quaterniond	quaternion_from_rpy (const Eigen::Vector3d &rpy)
	Convert euler angles to quaternion. More...
Eigen::Quaterniond	quaternion_from_rpy (const double roll, const double pitch, const double yaw)
	Convert euler angles to quaternion. More...
double	quaternion_get_yaw (const Eigen::Quaterniond &q)
	Get Yaw angle from quaternion. More...
template<typename _Scalar , typename std::enable_if< std::is_floating_point< _Scalar >::value, bool >::type = true>
void	quaternion_to_mavlink (const Eigen::Quaternion< _Scalar > &q, std::array< float, 4 > &qmsg)
	Store Quaternion to MAVLink float[4] format. More...
Eigen::Vector3d	quaternion_to_rpy (const Eigen::Quaterniond &q)
	Convert quaternion to euler angles. More...
void	quaternion_to_rpy (const Eigen::Quaterniond &q, double &roll, double &pitch, double &yaw)
	Convert quaternion to euler angles. More...
Eigen::Vector3d	to_eigen (const geometry_msgs::Point r)
	Helper to convert common ROS geometry_msgs::Point to Eigen::Vector3d. More...
Eigen::Vector3d	to_eigen (const geometry_msgs::Vector3 r)
	Helper to convert common ROS geometry_msgs::Vector3 to Eigen::Vector3d. More...
Eigen::Quaterniond	to_eigen (const geometry_msgs::Quaternion r)
	Helper to convert common ROS geometry_msgs::Quaternion to Eigen::Quaterniond. More...
template<class T >
T	transform_frame_aircraft_baselink (const T &in)
	Transform data expressed in Aircraft frame to Baselink frame. More...
template<class T >
T	transform_frame_aircraft_enu (const T &in, const Eigen::Quaterniond &q)
	Transform data expressed in aircraft frame to ENU frame. Assumes quaternion represents rotation from aircraft frame to ENU frame. More...
template<class T >
T	transform_frame_aircraft_ned (const T &in, const Eigen::Quaterniond &q)
	Transform data expressed in aircraft frame to NED frame. Assumes quaternion represents rotation from aircraft frame to NED frame. More...
template<class T >
T	transform_frame_baselink_aircraft (const T &in)
	Transform data expressed in Baselink frame to Aircraft frame. More...
template<class T >
T	transform_frame_baselink_enu (const T &in, const Eigen::Quaterniond &q)
	Transform data expressed in baselink to ENU frame. Assumes quaternion represents rotation from basel_link to ENU frame. More...
template<class T >
T	transform_frame_ecef_enu (const T &in, const T &map_origin)
	Transform data expressed in ECEF frame to ENU frame. More...
template<class T >
T	transform_frame_enu_aircraft (const T &in, const Eigen::Quaterniond &q)
	Transform data expressed in ENU to aircraft frame. Assumes quaternion represents rotation from ENU to aircraft frame. More...
template<class T >
T	transform_frame_enu_baselink (const T &in, const Eigen::Quaterniond &q)
	Transform data expressed in ENU to base_link frame. Assumes quaternion represents rotation from ENU to base_link frame. More...
template<class T >
T	transform_frame_enu_ecef (const T &in, const T &map_origin)
	Transform data expressed in ENU frame to ECEF frame. More...
template<class T >
T	transform_frame_enu_ned (const T &in)
	Transform data expressed in ENU to NED frame. More...
template<class T >
T	transform_frame_ned_aircraft (const T &in, const Eigen::Quaterniond &q)
	Transform data expressed in NED to aircraft frame. Assumes quaternion represents rotation from NED to aircraft frame. More...
template<class T >
T	transform_frame_ned_enu (const T &in)
	Transform data expressed in NED to ENU frame. More...
template<class T >
T	transform_orientation_absolute_frame_aircraft_baselink (const T &in)
	Transform from attitude represented WRT aircraft frame to attitude represented WRT base_link frame, treating aircraft frame as in an absolute frame of reference (local NED). More...
template<class T >
T	transform_orientation_absolute_frame_baselink_aircraft (const T &in)
	Transform from attitude represented WRT baselink frame to attitude represented WRT body frame, treating baselink frame as in an absolute frame of reference (local NED). More...
template<class T >
T	transform_orientation_aircraft_baselink (const T &in)
	Transform from attitude represented WRT aircraft frame to attitude represented WRT base_link frame. More...
template<class T >
T	transform_orientation_baselink_aircraft (const T &in)
	Transform from attitude represented WRT baselink frame to attitude represented WRT body frame. More...
template<class T >
T	transform_orientation_enu_ned (const T &in)
	Transform from attitude represented WRT ENU frame to attitude represented WRT NED frame. More...
template<class T >
T	transform_orientation_ned_enu (const T &in)
	Transform from attitude represented WRT NED frame to attitude represented WRT ENU frame. More...