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add covariance matrices index aliases

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TSC21
2018-09-14 11:43:48 +01:00
committed by Lorenz Meier
parent 1cfaccfd7b
commit cc73f214d1
7 changed files with 98 additions and 43 deletions
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msg/vehicle_odometry.msg
+18 -2
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@@ -1,6 +1,20 @@
# Vehicle odometry data. Fits ROS REP 147 for aerial vehicles
uint64 timestamp # time since system start (microseconds)
# Covariance matrix index constants
uint8 COVARIANCE_MATRIX_X_VARIANCE=0
uint8 COVARIANCE_MATRIX_Y_VARIANCE=6
uint8 COVARIANCE_MATRIX_Z_VARIANCE=11
uint8 COVARIANCE_MATRIX_ROLL_VARIANCE=15
uint8 COVARIANCE_MATRIX_PITCH_VARIANCE=18
uint8 COVARIANCE_MATRIX_YAW_VARIANCE=20
uint8 COVARIANCE_MATRIX_VX_VARIANCE=0
uint8 COVARIANCE_MATRIX_VY_VARIANCE=6
uint8 COVARIANCE_MATRIX_VZ_VARIANCE=11
uint8 COVARIANCE_MATRIX_ROLLRATE_VARIANCE=15
uint8 COVARIANCE_MATRIX_PITCHRATE_VARIANCE=18
uint8 COVARIANCE_MATRIX_YAWRATE_VARIANCE=20
# Position in NED earth-fixed frame (meters). NaN if invalid/unknown
float32 x # North position
float32 y # East position
@@ -12,7 +26,8 @@ float32[4] q # Quaternion rotation from NED earth-fixed frame to XYZ body fram
# Row-major representation of 6x6 pose cross-covariance matrix URT.
# NED earth-fixed frame.
# Order: x, y, z, rotation about X axis, rotation about Y axis, rotation about Z axis
# If invalid/unknown, first cell is NaN
# If position covariance invalid/unknown, first cell is NaN
# If orientation covariance invalid/unknown, 16th cell is NaN
float32[21] pose_covariance
# Velocity in NED earth-fixed frame (meters/sec). NaN if invalid/unknown
@@ -28,7 +43,8 @@ float32 yawspeed # Angular velocity about Z body axis
# Row-major representation of 6x6 velocity cross-covariance matrix URT.
# Linear velocity in NED earth-fixed frame. Angular velocity in body-fixed frame.
# Order: vx, vy, vz, rotation rate about X axis, rotation rate about Y axis, rotation rate about Z axis
# If invalid/unknown, first cell is NaN
# If linear velocity covariance invalid/unknown, first cell is NaN
# If angular velocity covariance invalid/unknown, 16th cell is NaN
float32[21] velocity_covariance
# TOPICS vehicle_odometry vehicle_mocap_odometry vehicle_visual_odometry