vehicle_odometry.h

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/* Auto-generated by genmsg_cpp from file vehicle_odometry.msg */


#pragma once


#include <uORB/uORB.h>


#ifndef __cplusplus
#define VEHICLE_ODOMETRY_COVARIANCE_MATRIX_X_VARIANCE 0
#define VEHICLE_ODOMETRY_COVARIANCE_MATRIX_Y_VARIANCE 6
#define VEHICLE_ODOMETRY_COVARIANCE_MATRIX_Z_VARIANCE 11
#define VEHICLE_ODOMETRY_COVARIANCE_MATRIX_ROLL_VARIANCE 15
#define VEHICLE_ODOMETRY_COVARIANCE_MATRIX_PITCH_VARIANCE 18
#define VEHICLE_ODOMETRY_COVARIANCE_MATRIX_YAW_VARIANCE 20
#define VEHICLE_ODOMETRY_COVARIANCE_MATRIX_VX_VARIANCE 0
#define VEHICLE_ODOMETRY_COVARIANCE_MATRIX_VY_VARIANCE 6
#define VEHICLE_ODOMETRY_COVARIANCE_MATRIX_VZ_VARIANCE 11
#define VEHICLE_ODOMETRY_COVARIANCE_MATRIX_ROLLRATE_VARIANCE 15
#define VEHICLE_ODOMETRY_COVARIANCE_MATRIX_PITCHRATE_VARIANCE 18
#define VEHICLE_ODOMETRY_COVARIANCE_MATRIX_YAWRATE_VARIANCE 20
#define VEHICLE_ODOMETRY_LOCAL_FRAME_NED 0
#define VEHICLE_ODOMETRY_LOCAL_FRAME_ENU 1
#define VEHICLE_ODOMETRY_LOCAL_FRAME_OTHER 2

#endif


#ifdef __cplusplus
struct __EXPORT vehicle_odometry_s {
#else
struct vehicle_odometry_s {
#endif
    uint64_t timestamp;
    float x;
    float y;
    float z;
    float q[4];
    float q_offset[4];
    float pose_covariance[21];
    float vx;
    float vy;
    float vz;
    float rollspeed;
    float pitchspeed;
    float yawspeed;
    float velocity_covariance[21];
    uint8_t local_frame;
    uint8_t _padding0[3]; // required for logger


#ifdef __cplusplus
    static constexpr uint8_t COVARIANCE_MATRIX_X_VARIANCE = 0;
    static constexpr uint8_t COVARIANCE_MATRIX_Y_VARIANCE = 6;
    static constexpr uint8_t COVARIANCE_MATRIX_Z_VARIANCE = 11;
    static constexpr uint8_t COVARIANCE_MATRIX_ROLL_VARIANCE = 15;
    static constexpr uint8_t COVARIANCE_MATRIX_PITCH_VARIANCE = 18;
    static constexpr uint8_t COVARIANCE_MATRIX_YAW_VARIANCE = 20;
    static constexpr uint8_t COVARIANCE_MATRIX_VX_VARIANCE = 0;
    static constexpr uint8_t COVARIANCE_MATRIX_VY_VARIANCE = 6;
    static constexpr uint8_t COVARIANCE_MATRIX_VZ_VARIANCE = 11;
    static constexpr uint8_t COVARIANCE_MATRIX_ROLLRATE_VARIANCE = 15;
    static constexpr uint8_t COVARIANCE_MATRIX_PITCHRATE_VARIANCE = 18;
    static constexpr uint8_t COVARIANCE_MATRIX_YAWRATE_VARIANCE = 20;
    static constexpr uint8_t LOCAL_FRAME_NED = 0;
    static constexpr uint8_t LOCAL_FRAME_ENU = 1;
    static constexpr uint8_t LOCAL_FRAME_OTHER = 2;

#endif
};

/* register this as object request broker structure */
ORB_DECLARE(vehicle_odometry);
ORB_DECLARE(vehicle_mocap_odometry);
ORB_DECLARE(vehicle_visual_odometry);
ORB_DECLARE(vehicle_visual_odometry_aligned);


#ifdef __cplusplus
void print_message(const vehicle_odometry_s& message);
#endif