36 #ifndef vpRobotMavsdk_h_
37 #define vpRobotMavsdk_h_
39 #include <visp3/core/vpConfig.h>
41 #if defined(VISP_HAVE_MAVSDK) && (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_17)
48 #include <visp3/core/vpHomogeneousMatrix.h>
77 void connect(
const std::string &connection_info);
82 float getBatteryLevel()
const;
84 std::string getAddress()
const;
92 bool isRunning()
const;
107 void setForwardSpeed(
double vx);
108 void setLateralSpeed(
double vy);
109 void setPosition(
float dX,
float dY,
float dZ,
float dPsi);
111 void setVelocity(
const vpColVector &vel,
double delta_t);
113 void setVerticalSpeed(
double vz);
114 void setYawSpeed(
double wz);
116 void setTakeOffAlt(
double altitude);
117 bool takeOff(
bool interactive =
true);
121 [[noreturn]]
static void sighandler(
int signo);
125 void createDroneController();
126 void setupCallbacks();
127 void startController();
132 class vpRobotMavsdkImpl;
133 vpRobotMavsdkImpl *m_impl;
Implementation of column vector and the associated operations.
Implementation of an homogeneous matrix and operations on such kind of matrices.