C++ (Cpp) vision_speed_estimate Examples

Example #1

File: vision_speed_estimate.cpp Project: Jister/bridge_ws

	/**
	 * @brief Send vision speed estimate to FCU velocity controller
	 */
	void send_vision_speed(const geometry_msgs::Vector3 &vel_enu, const ros::Time &stamp) {
		Eigen::Vector3d vel_;
		tf::vectorMsgToEigen(vel_enu, vel_);
		auto vel = UAS::transform_frame_enu_ned(vel_);

		vision_speed_estimate(stamp.toNSec() / 1000,
				vel.x(), vel.y(), vel.z());
	}

Example #2

File: vision_speed_estimate.cpp Project: FOXTTER/mavros

	/**
	 * @brief Send vision speed estimate to FCU velocity controller
	 */
	void send_vision_speed(const geometry_msgs::Vector3 &vel_enu, const ros::Time &stamp)
	{
		Eigen::Vector3d vel_;
		tf::vectorMsgToEigen(vel_enu, vel_);
		//Transform from ENU to NED frame
		auto vel = ftf::transform_frame_enu_ned(vel_);

		vision_speed_estimate(stamp.toNSec() / 1000, vel);
	}

Example #3

File: vision_speed_estimate.cpp Project: jonbinney/mavros

	/**
	 * @brief Send vision speed estimate to FCU velocity controller
	 */
	void send_vision_speed(float vx, float vy, float vz, const ros::Time &stamp) {
		auto vel = UAS::transform_frame_enu_ned_xyz(vx, vy, vz);

		vision_speed_estimate(stamp.toNSec() / 1000,
				vel.x(), vel.y(), vel.z());
	}

Example #4

File: vision_speed_estimate.cpp Project: 15gr830/mavros

	/**
	 * Send vision speed estimate to FCU velocity controller
	 */
	void send_vision_speed(float vx, float vy, float vz, const ros::Time &stamp) {
		// TODO: check conversion. Issue #49.
		vision_speed_estimate(stamp.toNSec() / 1000,
				vy, vx, -vz);
	}