libraries/AP_DDS/AP_DDS_External_Odom.h

   1 // Class for handling external localization data.
   2 // For historical reasons, it's called odometry to match AP_VisualOdom.
   3
   4 #pragma once
   5
   6 #include "AP_DDS_config.h"
   7 #if AP_DDS_VISUALODOM_ENABLED
   8
   9 #include "geometry_msgs/msg/TransformStamped.h"
  10 #include "tf2_msgs/msg/TFMessage.h"
  11 #include "AP_Math/vector3.h"
  12 #include "AP_Math/quaternion.h"
  13
  14 class AP_DDS_External_Odom
  15 {
  16 public:
  17
  18     // Handler for external position localization
  19     static void handle_external_odom(const tf2_msgs_msg_TFMessage& msg);
  20
  21     // Checks the child and parent frames match a set needed for external odom.
  22     // Since multiple different transforms can be sent, this validates the specific transform is
  23     // for odometry.
  24     static bool is_odometry_frame(const geometry_msgs_msg_TransformStamped& msg);
  25
  26     // Helper to convert from ROS transform to AP datatypes
  27     // ros_transform is in ENU
  28     // translation is in NED
  29     static void convert_transform(const geometry_msgs_msg_Transform& ros_transform, Vector3f& translation, Quaternion& rotation);
  30
  31 };
  32
  33 #endif // AP_DDS_VISUALODOM_ENABLED