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Odometry Structure Reference
Odometry
public struct Odometry : EquatableOdometry message type.
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Undocumented
Declaration
Swift
public let timeUsec: UInt64 -
Undocumented
Declaration
Swift
public let frameID: MavFrame -
Undocumented
Declaration
Swift
public let childFrameID: MavFrame -
Undocumented
Declaration
Swift
public let positionBody: PositionBody -
Undocumented
Declaration
Swift
public let q: Quaternion -
Undocumented
Declaration
Swift
public let velocityBody: VelocityBody -
Undocumented
Declaration
Swift
public let angularVelocityBody: AngularVelocityBody -
Undocumented
Declaration
Swift
public let poseCovariance: Covariance -
Undocumented
Declaration
Swift
public let velocityCovariance: Covariance -
Mavlink frame id
See moreDeclaration
Swift
public enum MavFrame : Equatable -
init(timeUsec:frameID: childFrameID: positionBody: q: velocityBody: angularVelocityBody: poseCovariance: velocityCovariance: ) Initializes a new
Odometry.Declaration
Swift
public init(timeUsec: UInt64, frameID: MavFrame, childFrameID: MavFrame, positionBody: PositionBody, q: Quaternion, velocityBody: VelocityBody, angularVelocityBody: AngularVelocityBody, poseCovariance: Covariance, velocityCovariance: Covariance)Parameters
timeUsecTimestamp (0 to use Backend timestamp).
frameIDCoordinate frame of reference for the pose data.
childFrameIDCoordinate frame of reference for the velocity in free space (twist) data.
positionBodyPosition.
qQuaternion components, w, x, y, z (1 0 0 0 is the null-rotation).
velocityBodyLinear velocity (m/s).
angularVelocityBodyAngular velocity (rad/s).
poseCovariancePose cross-covariance matrix.
velocityCovarianceVelocity cross-covariance matrix.
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Declaration
Swift
public static func == (lhs: Odometry, rhs: Odometry) -> Bool