Odometry
public struct Odometry : Equatable
Odometry message to communicate odometry information with an external interface.
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Undocumented
Declaration
Swift
public let timeUsec: UInt64
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Undocumented
Declaration
Swift
public let frameID: MavFrame
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Undocumented
Declaration
Swift
public let positionBody: PositionBody
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Undocumented
Declaration
Swift
public let q: Quaternion
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Undocumented
Declaration
Swift
public let speedBody: SpeedBody
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Undocumented
Declaration
Swift
public let angularVelocityBody: AngularVelocityBody
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Undocumented
Declaration
Swift
public let poseCovariance: Covariance
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Undocumented
Declaration
Swift
public let velocityCovariance: Covariance
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Mavlink frame id
See moreDeclaration
Swift
public enum MavFrame : Equatable
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init(timeUsec:
frameID: positionBody: q: speedBody: angularVelocityBody: poseCovariance: velocityCovariance: ) Initializes a new
Odometry
.Declaration
Swift
public init(timeUsec: UInt64, frameID: MavFrame, positionBody: PositionBody, q: Quaternion, speedBody: SpeedBody, angularVelocityBody: AngularVelocityBody, poseCovariance: Covariance, velocityCovariance: Covariance)
Parameters
timeUsec
Timestamp (0 to use Backend timestamp).
frameID
Coordinate frame of reference for the pose data.
positionBody
Body Position.
q
Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation).
speedBody
Linear speed (m/s).
angularVelocityBody
Angular speed (rad/s).
poseCovariance
Pose cross-covariance matrix.
velocityCovariance
Velocity cross-covariance matrix.
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Declaration
Swift
public static func == (lhs: Odometry, rhs: Odometry) -> Bool