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
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Public Member Functions

Subscriptions get_subscriptions () override
 
void initialize (UAS &uas_) override
 
 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 capabilities_cb (UAS::MAV_CAP capabilities)
 
virtual void connection_cb (bool connected)
 
void enable_capabilities_cb ()
 
void enable_connection_cb ()
 
HandlerInfo make_handler (const mavlink::msgid_t id, void(_C::*fn)(const mavlink::mavlink_message_t *msg, const mavconn::Framing framing))
 
HandlerInfo make_handler (void(_C::*fn)(const mavlink::mavlink_message_t *, _T &))
 
 PluginBase ()
 
- Protected Attributes inherited from mavros::plugin::PluginBase
UASm_uas
 

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:


mavros_extras
Author(s): Vladimir Ermakov , Amilcar Lucas
autogenerated on Tue Jun 1 2021 02:36:37