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

• MavlinkMessage

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 setter, inherited

mavlinkCrcExtra → int

no setter, override

mavlinkMessageId → int

no setter, override

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 setter, inherited

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