Public Member Functions | Private Member Functions | Private Attributes | List of all members
mavros::extra_plugins::VisionSpeedEstimatePlugin Class Reference

Vision speed estimate plugin. More...

Inheritance diagram for mavros::extra_plugins::VisionSpeedEstimatePlugin:
Inheritance graph

Public Member Functions

Subscriptions get_subscriptions ()
void initialize (UAS &uas_)
 VisionSpeedEstimatePlugin ()
- Public Member Functions inherited from mavros::plugin::PluginBase
virtual ~PluginBase ()

Private Member Functions

void convert_vision_speed (const ros::Time &stamp, const Eigen::Vector3d &vel_enu, const ftf::Covariance3d &cov_enu)
 Convert vector and covariance from local ENU to local NED frame. More...
void send_vision_speed_estimate (const uint64_t usec, const Eigen::Vector3d &v, const ftf::Covariance3d &cov)
 Send vision speed estimate on local NED frame to the FCU. More...
void twist_cb (const geometry_msgs::TwistStamped::ConstPtr &req)
 Callback to geometry_msgs/TwistStamped msgs. More...
void twist_cov_cb (const geometry_msgs::TwistWithCovarianceStamped::ConstPtr &req)
 Callback to geometry_msgs/TwistWithCovarianceStamped msgs. More...
void vector_cb (const geometry_msgs::Vector3Stamped::ConstPtr &req)
 Callback to geometry_msgs/Vector3Stamped msgs. More...

Private Attributes

bool listen_twist
 If True, listen to Twist data topics. More...
ros::NodeHandle sp_nh
bool twist_cov
 If True, listen to TwistWithCovariance data topic. More...
ros::Subscriber vision_twist_cov_sub
 Subscriber to geometry_msgs/TwistWithCovarianceStamped msgs. More...
ros::Subscriber vision_twist_sub
 Subscriber to geometry_msgs/TwistStamped msgs. More...
ros::Subscriber vision_vector_sub
 Subscriber to geometry_msgs/Vector3Stamped msgs. More...

Additional Inherited Members

- Public Types inherited from mavros::plugin::PluginBase
typedef boost::shared_ptr< PluginBase const > ConstPtr
typedef mavconn::MAVConnInterface::ReceivedCb HandlerCb
typedef std::tuple< mavlink::msgid_t, const char *, size_t, HandlerCbHandlerInfo
typedef boost::shared_ptr< PluginBasePtr
typedef std::vector< HandlerInfoSubscriptions
- Protected Member Functions inherited from mavros::plugin::PluginBase
virtual void connection_cb (bool connected)
void enable_connection_cb ()
HandlerInfo make_handler (void(_C::*fn)(const mavlink::mavlink_message_t *, _T &))
HandlerInfo make_handler (const mavlink::msgid_t id, void(_C::*fn)(const mavlink::mavlink_message_t *msg, const mavconn::Framing framing))
 PluginBase ()
- Protected Attributes inherited from mavros::plugin::PluginBase

Detailed Description

Vision speed estimate plugin.

Send velocity estimation from various vision estimators to FCU position and attitude estimators.

Definition at line 33 of file vision_speed_estimate.cpp.

The documentation for this class was generated from the following file:

Author(s): Vladimir Ermakov
autogenerated on Mon Jul 8 2019 03:20:18