Referencebasepose
pose
Core module with basic position of assets and contacts.
package
base::pose
Core module with basic position of assets and contacts.
Types
| Type | Kind | Description |
|---|---|---|
Altitude | struct | Altitude. Normally WGS-84 altitude should be used where possible. But some vehicles might need to send some other value If are not able to determine it - in that case it should be converted to WGS-84 as soon as possible. Multiple values might be provided if it makes sense. |
AltitudeTypeEnum | enum | Enumeration of altitude type. |
CartesianVector | struct | Position expressed as cartesian vector. It is in frame of encompassing it Pose. |
CovarianceMatrix | struct | Triangular representation of a full covariance matrix (which is by definition symmetric), with axes x, y, and z which correspond to the first, second and third axes of a particular measurement type. For LatitudeLongitudeAltitude, latitude is x (in meters), longitude is y (in meters), and altitude is z (in meters). For PolarVector, x is range (in meters), y is azimuth (in degrees), and z is elevation (in degrees). For CartesianVector, the names map one to one with units of meters. The units of the attributes correspond to the product of the consistuent measurements. E.g. covariance_xx for LatitudeLongitude has the unit of metersmeters, while covariance_xy for PolarVector has units of metersdegrees. Based on full_covariance_matrix_type from OARIS. |
Distance | typedef | Distance type. |
EulerAngles | struct | Orientation as euler angles. Only yes is required, so this can be used to set just bearing. |
Frame | union | A frame, required for relative positioning. This can be a reference to a LabelledPose. It can also be a meaningful name. |
FrameName | typedef | Name of geographic reference frame. |
FrameTypeEnum | enum | Enumeration for frame type. |
LatitudeLongitudeAltitude | struct | Default position structure. Uses WGS84. |
Orientation | union | Orientation. |
OrientationTypeEnum | enum | Enumeration for orientation union. |
PolarVector | struct | Position expressed as polar coordinates. It is in frame of encompassing it Pose. |
Pose | struct | Main position for vehicles and assets. Normally WGS-84 latitude/longitude and one altitude should be specified with orientation yaw Euler angle used to report heading (platform orientation). Other options are used to more direct reporting and relative reporting is mostly can be used for limited communication scenarios and relative navigation. Multiple altitudes can be specified for scenarios when measurements cannot be directly converted but are still useful for operation (reporting bottom distance allows monitoring bottom following tasks). |
PoseSpec | struct | Base for pose specification. Missing accuracy and frame - can be used to specify frame. |
Position | union | Position union. By default LatitudeLongitudeAltitude should be used. |
PositionTypeEnum | enum | Enumeration for position union. |
Quaternion | struct | Orientation as quaternion. |
Diagrams
Diagrams
Loading diagram…
P7 : STANAG 4817 : CORE (pose)
Loading diagram…
P7 : STANAG 4817 : CORE (position)
Loading diagram…
P7 : STANAG 4817 : CORE (position accuracy)
Loading diagram…
P7 : STANAG 4817 : CORE (orientation)
Loading diagram…
NodeStatusBase
Base for distributing node status. Doesn_t have all the fields that Node has, its more generic.
Altitude
Altitude. Normally WGS-84 altitude should be used where possible. But some vehicles might need to send some other value If are not able to determine it - in that case it should be converted to WGS-84 as soon as possible. Multiple values mig