Struct sbp::messages::navigation::msg_pose_relative::MsgPoseRelative

pub struct MsgPoseRelative {

    pub sender_id: Option<u16>,
    pub tow: u32,
    pub sensor_id: u8,
    pub timestamp_1: u32,
    pub timestamp_2: u32,
    pub trans: [i32; 3],
    pub w: i32,
    pub x: i32,
    pub y: i32,
    pub z: i32,
    pub cov_r_x_x: f32,
    pub cov_r_x_y: f32,
    pub cov_r_x_z: f32,
    pub cov_r_y_y: f32,
    pub cov_r_y_z: f32,
    pub cov_r_z_z: f32,
    pub cov_c_x_x: f32,
    pub cov_c_x_y: f32,
    pub cov_c_x_z: f32,
    pub cov_c_y_y: f32,
    pub cov_c_y_z: f32,
    pub cov_c_z_z: f32,
    pub flags: u8,
}

Relative Pose

This solution message reports the relative pose of a sensor between two time instances. The relative pose comprises of a rotation and a translation which relates the sensor (e.g. camera) frame at a given time (first keyframe) to the sensor frame at another time (second keyframe). The relative translations is a 3x1 vector described in the first keyframe. Relative rotation is described by a quaternion from second keyframe to the first keyframe.

Fields

sender_id: Option<u16>

The message sender_id

tow: u32

GPS Time of Week

sensor_id: u8

ID of the sensor producing this message

timestamp_1: u32

Timestamp of first keyframe

timestamp_2: u32

Timestamp of second keyframe

trans: [i32; 3]

Relative translation [x,y,z] described in first keyframe

w: i32

Real component of quaternion to describe relative rotation (second to first keyframe)

x: i32

1st imaginary component of quaternion to describe relative rotation (second to first keyframe)

y: i32

2nd imaginary component of quaternion to describe relative rotation (second to first keyframe)

z: i32

3rd imaginary component of quaternion to describe relative rotation (second to first keyframe)

cov_r_x_x: f32

Estimated variance of x (relative translation)

cov_r_x_y: f32

Covariance of x and y (relative translation)

cov_r_x_z: f32

Covariance of x and z (relative translation)

cov_r_y_y: f32

Estimated variance of y (relative translation)

cov_r_y_z: f32

Covariance of y and z (relative translation)

cov_r_z_z: f32

Estimated variance of z (relative translation)

cov_c_x_x: f32

Estimated variance of x (relative rotation)

cov_c_x_y: f32

Covariance of x and y (relative rotation)

cov_c_x_z: f32

Covariance of x and z (relative rotation)

cov_c_y_y: f32

Estimated variance of y (relative rotation)

cov_c_y_z: f32

Covariance of y and z (relative rotation)

cov_c_z_z: f32

Estimated variance of z (relative rotation)

flags: u8

Status flags of relative translation and rotation

Implementations

impl MsgPoseRelative

pub fn time_source(&self) -> Result<TimeSource, u8>

Gets the TimeSource stored in the flags bitfield.

Returns Ok if the bitrange contains a known TimeSource variant. Otherwise the value of the bitrange is returned as an Err(u8). This may be because of a malformed message, or because new variants of TimeSource were added.

pub fn set_time_source(&mut self, time_source: TimeSource)

Set the bitrange corresponding to the TimeSource of the flags bitfield.

pub fn relative_translation_status( &self ) -> Result<RelativeTranslationStatus, u8>

Gets the RelativeTranslationStatus stored in the flags bitfield.

Returns Ok if the bitrange contains a known RelativeTranslationStatus variant. Otherwise the value of the bitrange is returned as an Err(u8). This may be because of a malformed message, or because new variants of RelativeTranslationStatus were added.

pub fn set_relative_translation_status( &mut self, relative_translation_status: RelativeTranslationStatus )

Set the bitrange corresponding to the RelativeTranslationStatus of the flags bitfield.

pub fn relative_rotation_status(&self) -> Result<RelativeRotationStatus, u8>

Gets the RelativeRotationStatus stored in the flags bitfield.

Returns Ok if the bitrange contains a known RelativeRotationStatus variant. Otherwise the value of the bitrange is returned as an Err(u8). This may be because of a malformed message, or because new variants of RelativeRotationStatus were added.

pub fn set_relative_rotation_status( &mut self, relative_rotation_status: RelativeRotationStatus )

Set the bitrange corresponding to the RelativeRotationStatus of the flags bitfield.

Trait Implementations

impl Clone for MsgPoseRelative

fn clone(&self) -> MsgPoseRelative

Returns a copy of the value.

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

Performs copy-assignment from source.

impl ConcreteMessage for MsgPoseRelative

const MESSAGE_TYPE: u16 = 581u16

The message type.

const MESSAGE_NAME: &'static str = "MSG_POSE_RELATIVE"

The message name.

impl Debug for MsgPoseRelative

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

Formats the value using the given formatter.

impl<'de> Deserialize<'de> for MsgPoseRelative

fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl FriendlyName for MsgPoseRelative

fn friendly_name() -> &'static str

impl From<MsgPoseRelative> for Sbp

fn from(msg: MsgPoseRelative) -> Self

Converts to this type from the input type.

impl PartialEq for MsgPoseRelative

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

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

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

This method tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl SbpMessage for MsgPoseRelative

fn message_name(&self) -> &'static str

Get the message name.

fn message_type(&self) -> Option<u16>

Get the message type.

fn sender_id(&self) -> Option<u16>

Get the sender_id if it is set.

fn set_sender_id(&mut self, new_id: u16)

Set the sender id.

fn encoded_len(&self) -> usize

Number of bytes this message will take on the wire.

fn is_valid(&self) -> bool

Tells you if the message is valid or if it is not a valid message and may need to be special cased at certain points.

fn into_valid_msg(self) -> Result<Self, Invalid>

fn gps_time(&self) -> Option<Result<MessageTime, GpsTimeError>>

Get the GPS time associated with the message.

fn friendly_name(&self) -> &'static str

Get friendly name associated with the message.

impl Serialize for MsgPoseRelative

fn serialize<__S>(&self, __serializer: __S) -> Result<__S::Ok, __S::Error>

where __S: Serializer,

Serialize this value into the given Serde serializer.

impl TryFrom<Sbp> for MsgPoseRelative

type Error = TryFromSbpError

The type returned in the event of a conversion error.

fn try_from(msg: Sbp) -> Result<Self, Self::Error>

Performs the conversion.

impl StructuralPartialEq for MsgPoseRelative