global_position.hpp

/****************************************************************************
 * Copyright (c) 2023 PX4 Development Team.
 * SPDX-License-Identifier: BSD-3-Clause
 ****************************************************************************/
 
#pragma once
 
#include <Eigen/Eigen>
#include <px4_msgs/msg/vehicle_global_position.hpp>
#include <px4_ros2/common/context.hpp>
#include <px4_ros2/utils/subscription.hpp>
 
namespace px4_ros2
{
class OdometryGlobalPosition : public Subscription<px4_msgs::msg::VehicleGlobalPosition>
{
public:
  explicit OdometryGlobalPosition(Context & context);
 
  bool positionValid() const
  {
    return lastValid() && last().lat_lon_valid && last().alt_valid;
  }
 
  Eigen::Vector3d position() const
  {
    const px4_msgs::msg::VehicleGlobalPosition & pos = last();
    return {pos.lat, pos.lon, pos.alt};
  }
};
 
} /* namespace px4_ros2 */