Struct mav_sdk::grpc::telemetry::Odometry

pub struct Odometry {
    pub time_usec: u64,
    pub frame_id: i32,
    pub child_frame_id: i32,
    pub position_body: Option<PositionBody>,
    pub q: Option<Quaternion>,
    pub velocity_body: Option<VelocityBody>,
    pub angular_velocity_body: Option<AngularVelocityBody>,
    pub pose_covariance: Option<Covariance>,
    pub velocity_covariance: Option<Covariance>,
}

Odometry message type.

Fields

time_usec: u64

Timestamp (0 to use Backend timestamp).

frame_id: i32

Coordinate frame of reference for the pose data.

child_frame_id: i32

Coordinate frame of reference for the velocity in free space (twist) data.

position_body: Option<PositionBody>

Position.

q: Option<Quaternion>

Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation).

velocity_body: Option<VelocityBody>

Linear velocity (m/s).

angular_velocity_body: Option<AngularVelocityBody>

Angular velocity (rad/s).

pose_covariance: Option<Covariance>

Pose cross-covariance matrix.

velocity_covariance: Option<Covariance>

Velocity cross-covariance matrix.

Implementations

impl Odometry

pub fn frame_id(&self) -> MavFrame

Returns the enum value of frame_id, or the default if the field is set to an invalid enum value.

pub fn set_frame_id(&mut self, value: MavFrame)

Sets frame_id to the provided enum value.

pub fn child_frame_id(&self) -> MavFrame

Returns the enum value of child_frame_id, or the default if the field is set to an invalid enum value.

pub fn set_child_frame_id(&mut self, value: MavFrame)

Sets child_frame_id to the provided enum value.

Trait Implementations

impl Clone for Odometry

fn clone(&self) -> Odometry

Returns a copy of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for Odometry

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Default for Odometry

fn default() -> Self

Returns the “default value” for a type.

impl Message for Odometry

fn encode_raw<B>(&self, buf: &mut B) where
    B: BufMut, 

fn merge_field<B>(
    &mut self,
    tag: u32,
    wire_type: WireType,
    buf: &mut B,
    ctx: DecodeContext
) -> Result<(), DecodeError> where
    B: Buf, 

fn encoded_len(&self) -> usize

Returns the encoded length of the message without a length delimiter.

fn clear(&mut self)

Clears the message, resetting all fields to their default.

fn encode<B>(&self, buf: &mut B) -> Result<(), EncodeError> where
    B: BufMut, 

Encodes the message to a buffer.

fn encode_to_vec(&self) -> Vec<u8, Global>

Encodes the message to a newly allocated buffer.

fn encode_length_delimited<B>(&self, buf: &mut B) -> Result<(), EncodeError> where
    B: BufMut, 

Encodes the message with a length-delimiter to a buffer.

fn encode_length_delimited_to_vec(&self) -> Vec<u8, Global>

Encodes the message with a length-delimiter to a newly allocated buffer.

fn decode<B>(buf: B) -> Result<Self, DecodeError> where
    Self: Default,
    B: Buf, 

Decodes an instance of the message from a buffer.

fn decode_length_delimited<B>(buf: B) -> Result<Self, DecodeError> where
    Self: Default,
    B: Buf, 

Decodes a length-delimited instance of the message from the buffer.

fn merge<B>(&mut self, buf: B) -> Result<(), DecodeError> where
    B: Buf, 

Decodes an instance of the message from a buffer, and merges it into self.

fn merge_length_delimited<B>(&mut self, buf: B) -> Result<(), DecodeError> where
    B: Buf, 

Decodes a length-delimited instance of the message from buffer, and merges it into self.

impl PartialEq<Odometry> for Odometry

fn eq(&self, other: &Odometry) -> bool

This method tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Odometry) -> bool

This method tests for !=.

impl StructuralPartialEq for Odometry