px4_ros2::OdometryAttitude Class Reference

Provides access to the vehicle's attitude estimate. More...

#include <px4_ros2/odometry/attitude.hpp>

Inheritance diagram for px4_ros2::OdometryAttitude:

Public Member Functions
	OdometryAttitude (Context &context)
Eigen::Quaternionf	attitude () const
	Get the vehicle's attitude. More...
float	roll () const
	Get the vehicle's roll in extrinsic RPY order. More...
float	pitch () const
	Get the vehicle's pitch in extrinsic RPY order. More...
float	yaw () const
	Get the vehicle's yaw in extrinsic RPY order. More...
Public Member Functions inherited from px4_ros2::Subscription< px4_msgs::msg::VehicleAttitude >
	Subscription (Context &context, const std::string &topic)
void	onUpdate (const UpdateCallback &callback)
	Add a callback to execute when receiving a new message. More...
const px4_msgs::msg::VehicleAttitude &	last () const
	Get the last-received message. More...
const rclcpp::Time &	lastTime () const
	Get the receive-time of the last message. More...
bool	lastValid (const std::chrono::duration< int64_t, DurationT > max_delay=500ms) const
	Check whether the last message is still valid. To be valid, the message must have been received within a given time of the current time. More...

Detailed Description

Provides access to the vehicle's attitude estimate.

Member Function Documentation

attitude()

Eigen::Quaternionf px4_ros2::OdometryAttitude::attitude ( ) const

inline

Get the vehicle's attitude.

Returns

the attitude quaternion

pitch()

float px4_ros2::OdometryAttitude::pitch ( ) const

inline

Get the vehicle's pitch in extrinsic RPY order.

Returns

the attitude pitch in radians within [-pi, pi]

roll()

float px4_ros2::OdometryAttitude::roll ( ) const

inline

Get the vehicle's roll in extrinsic RPY order.

Returns

the attitude roll in radians within [-pi, pi]

yaw()

float px4_ros2::OdometryAttitude::yaw ( ) const

inline

Get the vehicle's yaw in extrinsic RPY order.

Returns

the attitude yaw in radians within [-pi, pi]

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The documentation for this class was generated from the following file:

• px4_ros2_cpp/include/px4_ros2/odometry/attitude.hpp