48 #include <visp3/core/vpConfig.h>
51 #if defined(VISP_HAVE_MAVSDK) && ((__cplusplus >= 201703L) || (defined(_MSVC_LANG) && (_MSVC_LANG >= 201703L)))
53 #include <visp3/robot/vpRobotMavsdk.h>
55 void usage(
const std::string &bin_name)
57 std::cerr <<
"Usage : " << bin_name <<
" <connection information>\n"
58 <<
"Connection URL format should be :\n"
59 <<
" - For TCP : tcp://[server_host][:server_port]\n"
60 <<
" - For UDP : udp://[bind_host][:bind_port]\n"
61 <<
" - For Serial : serial:///path/to/serial/dev[:baudrate]\n"
62 <<
"For example, to connect to the simulator use URL: udp://:14540\n";
65 int main(
int argc,
char **argv)
72 auto drone = vpRobotMavsdk(argv[1]);
73 drone.setAutoLand(
true);
74 drone.setTakeOffAlt(1.0);
75 drone.setVerbose(
true);
77 if (!drone.takeOff()) {
78 std::cout <<
"Takeoff failed" << std::endl;
85 float ned_north, ned_east, ned_down, ned_yaw;
86 drone.getPosition(ned_north, ned_east, ned_down, ned_yaw);
87 std::cout <<
"Vehicle position in NED frame: " << ned_north <<
" " << ned_east <<
" " << ned_down <<
" [m] and "
91 drone.getPosition(ned_M_frd);
97 drone.setPositioningIncertitude(0.10,
vpMath::rad(5.));
99 drone.setPositionRelative(0.0, 1.0, 0.0, 0.0);
100 drone.setPositionRelative(1.0, 0.0, 0.0, 0.0);
101 drone.setPositionRelative(0.0, -1.0, 0.0, 0.0);
102 drone.setPositionRelative(-1.0, 0.0, 0.0, 0.0);
112 #ifndef VISP_HAVE_MAVSDK
113 std::cout <<
"\nThis example requires mavsdk library. You should install it, configure and rebuid ViSP.\n"
116 #if !((__cplusplus >= 201703L) || (defined(_MSVC_LANG) && (_MSVC_LANG >= 201703L)))
118 <<
"\nThis example requires at least cxx17. You should enable cxx17 during ViSP configuration with cmake and "
Implementation of an homogeneous matrix and operations on such kind of matrices.
vpRotationMatrix getRotationMatrix() const
vpTranslationVector getTranslationVector() const
static double rad(double deg)
static double deg(double rad)
Implementation of a rotation vector as Euler angle minimal representation.