px4_ros2::LocalPositionMeasurement Struct Reference

Represents a local position measurement to be passed to LocalPositionMeasurementInterface::update. More...

#include <px4_ros2/navigation/experimental/local_position_measurement_interface.hpp>

Public Attributes
rclcpp::Time	timestamp_sample {}
	Timestamp of the sample.
std::optional< Eigen::Vector2f >	position_xy {std::nullopt}
	Position in the xy-plane.
std::optional< Eigen::Vector2f >	position_xy_variance {std::nullopt}
	Variance of position error in the xy-plane.
std::optional< float >	position_z {std::nullopt}
	Position in the z-axis.
std::optional< float >	position_z_variance {std::nullopt}
	Variance of position error in the z-axis.
std::optional< Eigen::Vector2f >	velocity_xy {std::nullopt}
	Velocity in the xy-plane.
std::optional< Eigen::Vector2f >	velocity_xy_variance {std::nullopt}
	Variance of velocity error in the xy-plane.
std::optional< float >	velocity_z {std::nullopt}
	Velocity in the z-axis.
std::optional< float >	velocity_z_variance {std::nullopt}
	Variance of velocity error in the z-axis.
std::optional< Eigen::Quaternionf >	attitude_quaternion {std::nullopt}
	Attitude quaternion [w, x, y, z], Hamiltonian convention.
std::optional< Eigen::Vector3f >	attitude_variance {std::nullopt}
	Variance of attitude error in body frame.

Detailed Description

Represents a local position measurement to be passed to LocalPositionMeasurementInterface::update.

This struct holds information about the local position measurement, including: the timestamp of the sample, vertical and horizontal postion and velocity, attitude, and their associated variances.

See also

LocalPositionMeasurementInterface::update

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

• px4_ros2_cpp/include/px4_ros2/navigation/experimental/local_position_measurement_interface.hpp