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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/libraries/AP_DDS/AP_DDS_External_Odom.h
Views: 1798
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// Class for handling external localization data.

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// For historical reasons, it's called odometry to match AP_VisualOdom.

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#pragma once

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#include "AP_DDS_config.h"

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#if AP_DDS_VISUALODOM_ENABLED

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#include "geometry_msgs/msg/TransformStamped.h"

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#include "tf2_msgs/msg/TFMessage.h"

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#include "AP_Math/vector3.h"

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#include "AP_Math/quaternion.h"

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class AP_DDS_External_Odom

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{

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public:

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    // Handler for external position localization

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    static void handle_external_odom(const tf2_msgs_msg_TFMessage& msg);

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    // Checks the child and parent frames match a set needed for external odom.

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    // Since multiple different transforms can be sent, this validates the specific transform is

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    // for odometry.

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    static bool is_odometry_frame(const geometry_msgs_msg_TransformStamped& msg);

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    // Helper to convert from ROS transform to AP datatypes

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    // ros_transform is in ENU

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    // translation is in NED

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    static void convert_transform(const geometry_msgs_msg_Transform& ros_transform, Vector3f& translation, Quaternion& rotation);

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};

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#endif // AP_DDS_VISUALODOM_ENABLED

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