Odometry class
Odometry message to communicate odometry information with an external interface. Fits ROS REP 147 standard for aerial vehicles (http://www.ros.org/reps/rep-0147.html).
ODOMETRY
- Implemented types
Constructors
-
Odometry({required uint64_t timeUsec, required float x, required float y, required float z, required List<
float> q, required float vx, required float vy, required float vz, required float rollspeed, required float pitchspeed, required float yawspeed, required List<float> poseCovariance, required List<float> velocityCovariance, required MavFrame frameId, required MavFrame childFrameId, required uint8_t resetCounter, required MavEstimatorType estimatorType, required int8_t quality}) - Odometry.parse(ByteData data_)
-
factory
Properties
- childFrameId → MavFrame
-
Coordinate frame of reference for the velocity in free space (twist) data.
final
- estimatorType → MavEstimatorType
-
Type of estimator that is providing the odometry.
final
- frameId → MavFrame
-
Coordinate frame of reference for the pose data.
final
- hashCode → int
-
The hash code for this object.
no setterinherited
- mavlinkCrcExtra → int
-
no setteroverride
- mavlinkMessageId → int
-
no setteroverride
- pitchspeed → float
-
Pitch angular speed
final
-
poseCovariance
→ List<
float> -
Row-major representation of a 6x6 pose cross-covariance matrix upper right triangle (states: x, y, z, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.
final
-
q
→ List<
float> -
Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation)
final
- quality → int8_t
-
Optional odometry quality metric as a percentage. -1 = odometry has failed, 0 = unknown/unset quality, 1 = worst quality, 100 = best quality
final
- resetCounter → uint8_t
-
Estimate reset counter. This should be incremented when the estimate resets in any of the dimensions (position, velocity, attitude, angular speed). This is designed to be used when e.g an external SLAM system detects a loop-closure and the estimate jumps.
final
- rollspeed → float
-
Roll angular speed
final
- runtimeType → Type
-
A representation of the runtime type of the object.
no setterinherited
- timeUsec → uint64_t
-
Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
final
-
velocityCovariance
→ List<
float> -
Row-major representation of a 6x6 velocity cross-covariance matrix upper right triangle (states: vx, vy, vz, rollspeed, pitchspeed, yawspeed; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.
final
- vx → float
-
X linear speed
final
- vy → float
-
Y linear speed
final
- vz → float
-
Z linear speed
final
- x → float
-
X Position
final
- y → float
-
Y Position
final
- yawspeed → float
-
Yaw angular speed
final
- z → float
-
Z Position
final
Methods
-
noSuchMethod(
Invocation invocation) → dynamic -
Invoked when a nonexistent method or property is accessed.
inherited
-
serialize(
) → ByteData -
override
-
toString(
) → String -
A string representation of this object.
inherited
Operators
-
operator ==(
Object other) → bool -
The equality operator.
inherited
Constants
- mavlinkEncodedLength → const int