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72 lines
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72 lines
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5 years ago
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/****************************************************************************
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*
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* Copyright (c) 2019 ECL Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* Feeds Ekf external vision data
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* @author Kamil Ritz <ka.ritz@hotmail.com>
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*/
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#pragma once
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#include "sensor.h"
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namespace sensor_simulator
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{
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namespace sensor
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{
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class Vio: public Sensor
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{
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public:
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Vio(std::shared_ptr<Ekf> ekf);
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~Vio();
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void setData(const ext_vision_message& vio_data);
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void setVelocityVariance(const Vector3f& velVar);
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void setPositionVariance(const Vector3f& posVar);
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void setAngularVariance(float angVar);
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void setVelocity(const Vector3f& vel);
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void setPosition(const Vector3f& pos);
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void setOrientation(const Quatf& quat);
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ext_vision_message dataAtRest();
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private:
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ext_vision_message _vio_data;
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void send(uint32_t time) override;
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};
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} // namespace sensor
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} // namespace sensor_simulator
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