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Mocap Class Reference
Mocap
public class Mocap* Allows interfacing a vehicle with a motion capture system in order to allow navigation without global positioning sources available (e.g. indoors, or when flying under a bridge. etc.).
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Initializes a new
Mocapplugin.Normally never created manually, but used from the
Dronehelper class instead.Declaration
Swift
public convenience init(address: String = "localhost", port: Int32 = 50051, scheduler: SchedulerType = ConcurrentDispatchQueueScheduler(qos: .background))Parameters
addressThe address of the
MavsdkServerinstance to connect toportThe port of the
MavsdkServerinstance to connect toschedulerThe scheduler to be used by
Observables -
Undocumented
See moreDeclaration
Swift
public struct RuntimeMocapError : Error -
Undocumented
See moreDeclaration
Swift
public struct MocapError : Error -
Body position type
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Swift
public struct PositionBody : Equatable -
Body angle type
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Swift
public struct AngleBody : Equatable -
Speed type, represented in the Body (X Y Z) frame and in metres/second.
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Swift
public struct SpeedBody : Equatable -
Angular velocity type
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Swift
public struct AngularVelocityBody : Equatable -
Covariance type. Row-major representation of a 6x6 cross-covariance matrix upper right triangle. Needs to be 21 entries or 1 entry with NaN if unknown.
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Swift
public struct Covariance : Equatable -
Quaternion type.
All rotations and axis systems follow the right-hand rule. The Hamilton quaternion product definition is used. A zero-rotation quaternion is represented by (1,0,0,0). The quaternion could also be written as w + xi + yj + zk.
For more info see: https://en.wikipedia.org/wiki/Quaternion
See moreDeclaration
Swift
public struct Quaternion : Equatable -
Global position/attitude estimate from a vision source.
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Swift
public struct VisionPositionEstimate : Equatable -
Motion capture attitude and position
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Swift
public struct AttitudePositionMocap : Equatable -
Odometry message to communicate odometry information with an external interface.
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Swift
public struct Odometry : Equatable -
Result type.
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Swift
public struct MocapResult : Equatable -
Send Global position/attitude estimate from a vision source.
Declaration
Swift
public func setVisionPositionEstimate(visionPositionEstimate: VisionPositionEstimate) -> CompletableParameters
visionPositionEstimateThe vision position estimate
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Send motion capture attitude and position.
Declaration
Swift
public func setAttitudePositionMocap(attitudePositionMocap: AttitudePositionMocap) -> CompletableParameters
attitudePositionMocapThe attitude and position data
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Send odometry information with an external interface.
Declaration
Swift
public func setOdometry(odometry: Odometry) -> CompletableParameters
odometryThe odometry data