mocap

package
v0.0.0-...-4a7e8af Latest Latest
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 Go to latest Published: Jan 13, 2023 License: BSD-3-Clause Imports: 10 Imported by: 0

Documentation

Index

Constants

This section is empty.

Variables

View Source 
var (
	Odometry_MavFrame_name = map[int32]string{
		0: "MAV_FRAME_MOCAP_NED",
		1: "MAV_FRAME_LOCAL_FRD",
	}
	Odometry_MavFrame_value = map[string]int32{
		"MAV_FRAME_MOCAP_NED": 0,
		"MAV_FRAME_LOCAL_FRD": 1,
	}
)

Enum value maps for Odometry_MavFrame.

View Source 
var (
	MocapResult_Result_name = map[int32]string{
		0: "RESULT_UNKNOWN",
		1: "RESULT_SUCCESS",
		2: "RESULT_NO_SYSTEM",
		3: "RESULT_CONNECTION_ERROR",
		4: "RESULT_INVALID_REQUEST_DATA",
		5: "RESULT_UNSUPPORTED",
	}
	MocapResult_Result_value = map[string]int32{
		"RESULT_UNKNOWN":              0,
		"RESULT_SUCCESS":              1,
		"RESULT_NO_SYSTEM":            2,
		"RESULT_CONNECTION_ERROR":     3,
		"RESULT_INVALID_REQUEST_DATA": 4,
		"RESULT_UNSUPPORTED":          5,
	}
)

Enum value maps for MocapResult_Result.

View Source 
var File_mocap_proto protoreflect.FileDescriptor
View Source 
var MocapService_ServiceDesc = grpc.ServiceDesc{
	ServiceName: "mavsdk.rpc.mocap.MocapService",
	HandlerType: (*MocapServiceServer)(nil),
	Methods: []grpc.MethodDesc{
		{
			MethodName: "SetVisionPositionEstimate",
			Handler:    _MocapService_SetVisionPositionEstimate_Handler,
		},
		{
			MethodName: "SetAttitudePositionMocap",
			Handler:    _MocapService_SetAttitudePositionMocap_Handler,
		},
		{
			MethodName: "SetOdometry",
			Handler:    _MocapService_SetOdometry_Handler,
		},
	},
	Streams:  []grpc.StreamDesc{},
	Metadata: "mocap.proto",
}

MocapService_ServiceDesc is the grpc.ServiceDesc for MocapService service. It's only intended for direct use with grpc.RegisterService, and not to be introspected or modified (even as a copy)

Functions

func RegisterMocapServiceServer 

func RegisterMocapServiceServer(s grpc.ServiceRegistrar, srv MocapServiceServer)

Types

type AngleBody 

type AngleBody struct {
	RollRad  float32 `protobuf:"fixed32,1,opt,name=roll_rad,json=rollRad,proto3" json:"roll_rad,omitempty"`    // Roll angle in radians.
	PitchRad float32 `protobuf:"fixed32,2,opt,name=pitch_rad,json=pitchRad,proto3" json:"pitch_rad,omitempty"` // Pitch angle in radians.
	YawRad   float32 `protobuf:"fixed32,3,opt,name=yaw_rad,json=yawRad,proto3" json:"yaw_rad,omitempty"`       // Yaw angle in radians.
	// contains filtered or unexported fields
}

Body angle type

func (*AngleBody) Descriptor deprecated 

func (*AngleBody) Descriptor() ([]byte, []int)

Deprecated: Use AngleBody.ProtoReflect.Descriptor instead.

func (*AngleBody) GetPitchRad 

func (x *AngleBody) GetPitchRad() float32

func (*AngleBody) GetRollRad 

func (x *AngleBody) GetRollRad() float32

func (*AngleBody) GetYawRad 

func (x *AngleBody) GetYawRad() float32

func (*AngleBody) ProtoMessage 

func (*AngleBody) ProtoMessage()

func (*AngleBody) ProtoReflect 

func (x *AngleBody) ProtoReflect() protoreflect.Message

func (*AngleBody) Reset 

func (x *AngleBody) Reset()

func (*AngleBody) String 

func (x *AngleBody) String() string

type AngularVelocityBody 

type AngularVelocityBody struct {
	RollRadS  float32 `protobuf:"fixed32,1,opt,name=roll_rad_s,json=rollRadS,proto3" json:"roll_rad_s,omitempty"`    // Roll angular velocity in radians/second.
	PitchRadS float32 `protobuf:"fixed32,2,opt,name=pitch_rad_s,json=pitchRadS,proto3" json:"pitch_rad_s,omitempty"` // Pitch angular velocity in radians/second.
	YawRadS   float32 `protobuf:"fixed32,3,opt,name=yaw_rad_s,json=yawRadS,proto3" json:"yaw_rad_s,omitempty"`       // Yaw angular velocity in radians/second.
	// contains filtered or unexported fields
}

Angular velocity type

func (*AngularVelocityBody) Descriptor deprecated 

func (*AngularVelocityBody) Descriptor() ([]byte, []int)

Deprecated: Use AngularVelocityBody.ProtoReflect.Descriptor instead.

func (*AngularVelocityBody) GetPitchRadS 

func (x *AngularVelocityBody) GetPitchRadS() float32

func (*AngularVelocityBody) GetRollRadS 

func (x *AngularVelocityBody) GetRollRadS() float32

func (*AngularVelocityBody) GetYawRadS 

func (x *AngularVelocityBody) GetYawRadS() float32

func (*AngularVelocityBody) ProtoMessage 

func (*AngularVelocityBody) ProtoMessage()

func (*AngularVelocityBody) ProtoReflect 

func (x *AngularVelocityBody) ProtoReflect() protoreflect.Message

func (*AngularVelocityBody) Reset 

func (x *AngularVelocityBody) Reset()

func (*AngularVelocityBody) String 

func (x *AngularVelocityBody) String() string

type AttitudePositionMocap 

type AttitudePositionMocap struct {
	TimeUsec       uint64        `protobuf:"varint,1,opt,name=time_usec,json=timeUsec,proto3" json:"time_usec,omitempty"`                  // PositionBody frame timestamp UNIX Epoch time (0 to use Backend timestamp)
	Q              *Quaternion   `protobuf:"bytes,2,opt,name=q,proto3" json:"q,omitempty"`                                                 // Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
	PositionBody   *PositionBody `protobuf:"bytes,3,opt,name=position_body,json=positionBody,proto3" json:"position_body,omitempty"`       // Body Position (NED)
	PoseCovariance *Covariance   `protobuf:"bytes,4,opt,name=pose_covariance,json=poseCovariance,proto3" json:"pose_covariance,omitempty"` // Pose cross-covariance matrix.
	// contains filtered or unexported fields
}

Motion capture attitude and position

func (*AttitudePositionMocap) Descriptor deprecated 

func (*AttitudePositionMocap) Descriptor() ([]byte, []int)

Deprecated: Use AttitudePositionMocap.ProtoReflect.Descriptor instead.

func (*AttitudePositionMocap) GetPoseCovariance 

func (x *AttitudePositionMocap) GetPoseCovariance() *Covariance

func (*AttitudePositionMocap) GetPositionBody 

func (x *AttitudePositionMocap) GetPositionBody() *PositionBody

func (*AttitudePositionMocap) GetQ 

func (x *AttitudePositionMocap) GetQ() *Quaternion

func (*AttitudePositionMocap) GetTimeUsec 

func (x *AttitudePositionMocap) GetTimeUsec() uint64

func (*AttitudePositionMocap) ProtoMessage 

func (*AttitudePositionMocap) ProtoMessage()

func (*AttitudePositionMocap) ProtoReflect 

func (x *AttitudePositionMocap) ProtoReflect() protoreflect.Message

func (*AttitudePositionMocap) Reset 

func (x *AttitudePositionMocap) Reset()

func (*AttitudePositionMocap) String 

func (x *AttitudePositionMocap) String() string

type Covariance 

type Covariance struct {
	CovarianceMatrix []float32 `protobuf:"fixed32,1,rep,packed,name=covariance_matrix,json=covarianceMatrix,proto3" json:"covariance_matrix,omitempty"` // The covariance matrix
	// contains filtered or unexported fields
}

Covariance type. Row-major representation of a 6x6 cross-covariance matrix upper right triangle. Needs to be 21 entries or 1 entry with NaN if unknown.

func (*Covariance) Descriptor deprecated 

func (*Covariance) Descriptor() ([]byte, []int)

Deprecated: Use Covariance.ProtoReflect.Descriptor instead.

func (*Covariance) GetCovarianceMatrix 

func (x *Covariance) GetCovarianceMatrix() []float32

func (*Covariance) ProtoMessage 

func (*Covariance) ProtoMessage()

func (*Covariance) ProtoReflect 

func (x *Covariance) ProtoReflect() protoreflect.Message

func (*Covariance) Reset 

func (x *Covariance) Reset()

func (*Covariance) String 

func (x *Covariance) String() string

type MocapResult 

type MocapResult struct {
	Result    MocapResult_Result `protobuf:"varint,1,opt,name=result,proto3,enum=mavsdk.rpc.mocap.MocapResult_Result" json:"result,omitempty"` // Result enum value
	ResultStr string             `protobuf:"bytes,2,opt,name=result_str,json=resultStr,proto3" json:"result_str,omitempty"`                    // Human-readable English string describing the result
	// contains filtered or unexported fields
}

Result type.

func (*MocapResult) Descriptor deprecated 

func (*MocapResult) Descriptor() ([]byte, []int)

Deprecated: Use MocapResult.ProtoReflect.Descriptor instead.

func (*MocapResult) GetResult 

func (x *MocapResult) GetResult() MocapResult_Result

func (*MocapResult) GetResultStr 

func (x *MocapResult) GetResultStr() string

func (*MocapResult) ProtoMessage 

func (*MocapResult) ProtoMessage()

func (*MocapResult) ProtoReflect 

func (x *MocapResult) ProtoReflect() protoreflect.Message

func (*MocapResult) Reset 

func (x *MocapResult) Reset()

func (*MocapResult) String 

func (x *MocapResult) String() string

type MocapResult_Result 

type MocapResult_Result int32

Possible results returned for mocap requests 

const (
	MocapResult_RESULT_UNKNOWN              MocapResult_Result = 0 // Unknown error
	MocapResult_RESULT_SUCCESS              MocapResult_Result = 1 // Request succeeded
	MocapResult_RESULT_NO_SYSTEM            MocapResult_Result = 2 // No system is connected
	MocapResult_RESULT_CONNECTION_ERROR     MocapResult_Result = 3 // Connection error
	MocapResult_RESULT_INVALID_REQUEST_DATA MocapResult_Result = 4 // Invalid request data
	MocapResult_RESULT_UNSUPPORTED          MocapResult_Result = 5 // Function unsupported
)

func (MocapResult_Result) Descriptor 

func (MocapResult_Result) Descriptor() protoreflect.EnumDescriptor

func (MocapResult_Result) Enum 

func (x MocapResult_Result) Enum() *MocapResult_Result

func (MocapResult_Result) EnumDescriptor deprecated 

func (MocapResult_Result) EnumDescriptor() ([]byte, []int)

Deprecated: Use MocapResult_Result.Descriptor instead.

func (MocapResult_Result) Number 

func (x MocapResult_Result) Number() protoreflect.EnumNumber

func (MocapResult_Result) String 

func (x MocapResult_Result) String() string

func (MocapResult_Result) Type 

func (MocapResult_Result) Type() protoreflect.EnumType

type MocapServiceClient 

type MocapServiceClient interface {
	// Send Global position/attitude estimate from a vision source.
	SetVisionPositionEstimate(ctx context.Context, in *SetVisionPositionEstimateRequest, opts ...grpc.CallOption) (*SetVisionPositionEstimateResponse, error)
	// Send motion capture attitude and position.
	SetAttitudePositionMocap(ctx context.Context, in *SetAttitudePositionMocapRequest, opts ...grpc.CallOption) (*SetAttitudePositionMocapResponse, error)
	// Send odometry information with an external interface.
	SetOdometry(ctx context.Context, in *SetOdometryRequest, opts ...grpc.CallOption) (*SetOdometryResponse, error)
}

MocapServiceClient is the client API for MocapService service.

For semantics around ctx use and closing/ending streaming RPCs, please refer to https://pkg.go.dev/google.golang.org/grpc/?tab=doc#ClientConn.NewStream.

func NewMocapServiceClient 

func NewMocapServiceClient(cc grpc.ClientConnInterface) MocapServiceClient

type MocapServiceServer 

type MocapServiceServer interface {
	// Send Global position/attitude estimate from a vision source.
	SetVisionPositionEstimate(context.Context, *SetVisionPositionEstimateRequest) (*SetVisionPositionEstimateResponse, error)
	// Send motion capture attitude and position.
	SetAttitudePositionMocap(context.Context, *SetAttitudePositionMocapRequest) (*SetAttitudePositionMocapResponse, error)
	// Send odometry information with an external interface.
	SetOdometry(context.Context, *SetOdometryRequest) (*SetOdometryResponse, error)
	// contains filtered or unexported methods
}

MocapServiceServer is the server API for MocapService service. All implementations must embed UnimplementedMocapServiceServer for forward compatibility

type Odometry 

type Odometry struct {
	TimeUsec            uint64               `protobuf:"varint,1,opt,name=time_usec,json=timeUsec,proto3" json:"time_usec,omitempty"`                                      // Timestamp (0 to use Backend timestamp).
	FrameId             Odometry_MavFrame    `protobuf:"varint,2,opt,name=frame_id,json=frameId,proto3,enum=mavsdk.rpc.mocap.Odometry_MavFrame" json:"frame_id,omitempty"` // Coordinate frame of reference for the pose data.
	PositionBody        *PositionBody        `protobuf:"bytes,3,opt,name=position_body,json=positionBody,proto3" json:"position_body,omitempty"`                           // Body Position.
	Q                   *Quaternion          `protobuf:"bytes,4,opt,name=q,proto3" json:"q,omitempty"`                                                                     // Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation).
	SpeedBody           *SpeedBody           `protobuf:"bytes,5,opt,name=speed_body,json=speedBody,proto3" json:"speed_body,omitempty"`                                    // Linear speed (m/s).
	AngularVelocityBody *AngularVelocityBody `protobuf:"bytes,6,opt,name=angular_velocity_body,json=angularVelocityBody,proto3" json:"angular_velocity_body,omitempty"`    // Angular speed (rad/s).
	PoseCovariance      *Covariance          `protobuf:"bytes,7,opt,name=pose_covariance,json=poseCovariance,proto3" json:"pose_covariance,omitempty"`                     // Pose cross-covariance matrix.
	VelocityCovariance  *Covariance          `protobuf:"bytes,8,opt,name=velocity_covariance,json=velocityCovariance,proto3" json:"velocity_covariance,omitempty"`         // Velocity cross-covariance matrix.
	// contains filtered or unexported fields
}

Odometry message to communicate odometry information with an external interface.

func (*Odometry) Descriptor deprecated 

func (*Odometry) Descriptor() ([]byte, []int)

Deprecated: Use Odometry.ProtoReflect.Descriptor instead.

func (*Odometry) GetAngularVelocityBody 

func (x *Odometry) GetAngularVelocityBody() *AngularVelocityBody

func (*Odometry) GetFrameId 

func (x *Odometry) GetFrameId() Odometry_MavFrame

func (*Odometry) GetPoseCovariance 

func (x *Odometry) GetPoseCovariance() *Covariance

func (*Odometry) GetPositionBody 

func (x *Odometry) GetPositionBody() *PositionBody

func (*Odometry) GetQ 

func (x *Odometry) GetQ() *Quaternion

func (*Odometry) GetSpeedBody 

func (x *Odometry) GetSpeedBody() *SpeedBody

func (*Odometry) GetTimeUsec 

func (x *Odometry) GetTimeUsec() uint64

func (*Odometry) GetVelocityCovariance 

func (x *Odometry) GetVelocityCovariance() *Covariance

func (*Odometry) ProtoMessage 

func (*Odometry) ProtoMessage()

func (*Odometry) ProtoReflect 

func (x *Odometry) ProtoReflect() protoreflect.Message

func (*Odometry) Reset 

func (x *Odometry) Reset()

func (*Odometry) String 

func (x *Odometry) String() string

type Odometry_MavFrame 

type Odometry_MavFrame int32

Mavlink frame id 

const (
	Odometry_MAV_FRAME_MOCAP_NED Odometry_MavFrame = 0 // MAVLink number: 14. Odometry local coordinate frame of data given by a motion capture system, Z-down (x: north, y: east, z: down).
	Odometry_MAV_FRAME_LOCAL_FRD Odometry_MavFrame = 1 // MAVLink number: 20. Forward, Right, Down coordinate frame. This is a local frame with Z-down and arbitrary F/R alignment (i.e. not aligned with NED/earth frame). Replacement for MAV_FRAME_MOCAP_NED, MAV_FRAME_VISION_NED, MAV_FRAME_ESTIM_NED.
)

func (Odometry_MavFrame) Descriptor 

func (Odometry_MavFrame) Descriptor() protoreflect.EnumDescriptor

func (Odometry_MavFrame) Enum 

func (x Odometry_MavFrame) Enum() *Odometry_MavFrame

func (Odometry_MavFrame) EnumDescriptor deprecated 

func (Odometry_MavFrame) EnumDescriptor() ([]byte, []int)

Deprecated: Use Odometry_MavFrame.Descriptor instead.

func (Odometry_MavFrame) Number 

func (x Odometry_MavFrame) Number() protoreflect.EnumNumber

func (Odometry_MavFrame) String 

func (x Odometry_MavFrame) String() string

func (Odometry_MavFrame) Type 

func (Odometry_MavFrame) Type() protoreflect.EnumType

type PositionBody 

type PositionBody struct {
	XM float32 `protobuf:"fixed32,1,opt,name=x_m,json=xM,proto3" json:"x_m,omitempty"` // X position in metres.
	YM float32 `protobuf:"fixed32,2,opt,name=y_m,json=yM,proto3" json:"y_m,omitempty"` // Y position in metres.
	ZM float32 `protobuf:"fixed32,3,opt,name=z_m,json=zM,proto3" json:"z_m,omitempty"` // Z position in metres.
	// contains filtered or unexported fields
}

Body position type

func (*PositionBody) Descriptor deprecated 

func (*PositionBody) Descriptor() ([]byte, []int)

Deprecated: Use PositionBody.ProtoReflect.Descriptor instead.

func (*PositionBody) GetXM 

func (x *PositionBody) GetXM() float32

func (*PositionBody) GetYM 

func (x *PositionBody) GetYM() float32

func (*PositionBody) GetZM 

func (x *PositionBody) GetZM() float32

func (*PositionBody) ProtoMessage 

func (*PositionBody) ProtoMessage()

func (*PositionBody) ProtoReflect 

func (x *PositionBody) ProtoReflect() protoreflect.Message

func (*PositionBody) Reset 

func (x *PositionBody) Reset()

func (*PositionBody) String 

func (x *PositionBody) String() string

type Quaternion 

type Quaternion struct {
	W float32 `protobuf:"fixed32,1,opt,name=w,proto3" json:"w,omitempty"` // Quaternion entry 0, also denoted as a
	X float32 `protobuf:"fixed32,2,opt,name=x,proto3" json:"x,omitempty"` // Quaternion entry 1, also denoted as b
	Y float32 `protobuf:"fixed32,3,opt,name=y,proto3" json:"y,omitempty"` // Quaternion entry 2, also denoted as c
	Z float32 `protobuf:"fixed32,4,opt,name=z,proto3" json:"z,omitempty"` // Quaternion entry 3, also denoted as d
	// contains filtered or unexported fields
}

Quaternion type.

All rotations and axis systems follow the right-hand rule. The Hamilton quaternion product definition is used. A zero-rotation quaternion is represented by (1,0,0,0). The quaternion could also be written as w + xi + yj + zk.

For more info see: https://en.wikipedia.org/wiki/Quaternion

func (*Quaternion) Descriptor deprecated 

func (*Quaternion) Descriptor() ([]byte, []int)

Deprecated: Use Quaternion.ProtoReflect.Descriptor instead.

func (*Quaternion) GetW 

func (x *Quaternion) GetW() float32

func (*Quaternion) GetX 

func (x *Quaternion) GetX() float32

func (*Quaternion) GetY 

func (x *Quaternion) GetY() float32

func (*Quaternion) GetZ 

func (x *Quaternion) GetZ() float32

func (*Quaternion) ProtoMessage 

func (*Quaternion) ProtoMessage()

func (*Quaternion) ProtoReflect 

func (x *Quaternion) ProtoReflect() protoreflect.Message

func (*Quaternion) Reset 

func (x *Quaternion) Reset()

func (*Quaternion) String 

func (x *Quaternion) String() string

type ServiceImpl 

type ServiceImpl struct {
	Client MocapServiceClient
}

func (*ServiceImpl) SetAttitudePositionMocap 

func (s *ServiceImpl) SetAttitudePositionMocap(ctx context.Context, attitudePositionMocap *AttitudePositionMocap) (*SetAttitudePositionMocapResponse, error)

func (*ServiceImpl) SetOdometry 

func (s *ServiceImpl) SetOdometry(ctx context.Context, odometry *Odometry) (*SetOdometryResponse, error)

func (*ServiceImpl) SetVisionPositionEstimate 

func (s *ServiceImpl) SetVisionPositionEstimate(ctx context.Context, visionPositionEstimate *VisionPositionEstimate) (*SetVisionPositionEstimateResponse, error)

type SetAttitudePositionMocapRequest 

type SetAttitudePositionMocapRequest struct {
	AttitudePositionMocap *AttitudePositionMocap `` // The attitude and position data
	/* 126-byte string literal not displayed */
	// contains filtered or unexported fields
}

func (*SetAttitudePositionMocapRequest) Descriptor deprecated 

func (*SetAttitudePositionMocapRequest) Descriptor() ([]byte, []int)

Deprecated: Use SetAttitudePositionMocapRequest.ProtoReflect.Descriptor instead.

func (*SetAttitudePositionMocapRequest) GetAttitudePositionMocap 

func (x *SetAttitudePositionMocapRequest) GetAttitudePositionMocap() *AttitudePositionMocap

func (*SetAttitudePositionMocapRequest) ProtoMessage 

func (*SetAttitudePositionMocapRequest) ProtoMessage()

func (*SetAttitudePositionMocapRequest) ProtoReflect 

func (x *SetAttitudePositionMocapRequest) ProtoReflect() protoreflect.Message

func (*SetAttitudePositionMocapRequest) Reset 

func (x *SetAttitudePositionMocapRequest) Reset()

func (*SetAttitudePositionMocapRequest) String 

func (x *SetAttitudePositionMocapRequest) String() string

type SetAttitudePositionMocapResponse 

type SetAttitudePositionMocapResponse struct {
	MocapResult *MocapResult `protobuf:"bytes,1,opt,name=mocap_result,json=mocapResult,proto3" json:"mocap_result,omitempty"`
	// contains filtered or unexported fields
}

func (*SetAttitudePositionMocapResponse) Descriptor deprecated 

func (*SetAttitudePositionMocapResponse) Descriptor() ([]byte, []int)

Deprecated: Use SetAttitudePositionMocapResponse.ProtoReflect.Descriptor instead.

func (*SetAttitudePositionMocapResponse) GetMocapResult 

func (x *SetAttitudePositionMocapResponse) GetMocapResult() *MocapResult

func (*SetAttitudePositionMocapResponse) ProtoMessage 

func (*SetAttitudePositionMocapResponse) ProtoMessage()

func (*SetAttitudePositionMocapResponse) ProtoReflect 

func (x *SetAttitudePositionMocapResponse) ProtoReflect() protoreflect.Message

func (*SetAttitudePositionMocapResponse) Reset 

func (x *SetAttitudePositionMocapResponse) Reset()

func (*SetAttitudePositionMocapResponse) String 

func (x *SetAttitudePositionMocapResponse) String() string

type SetOdometryRequest 

type SetOdometryRequest struct {
	Odometry *Odometry `protobuf:"bytes,1,opt,name=odometry,proto3" json:"odometry,omitempty"` // The odometry data
	// contains filtered or unexported fields
}

func (*SetOdometryRequest) Descriptor deprecated 

func (*SetOdometryRequest) Descriptor() ([]byte, []int)

Deprecated: Use SetOdometryRequest.ProtoReflect.Descriptor instead.

func (*SetOdometryRequest) GetOdometry 

func (x *SetOdometryRequest) GetOdometry() *Odometry

func (*SetOdometryRequest) ProtoMessage 

func (*SetOdometryRequest) ProtoMessage()

func (*SetOdometryRequest) ProtoReflect 

func (x *SetOdometryRequest) ProtoReflect() protoreflect.Message

func (*SetOdometryRequest) Reset 

func (x *SetOdometryRequest) Reset()

func (*SetOdometryRequest) String 

func (x *SetOdometryRequest) String() string

type SetOdometryResponse 

type SetOdometryResponse struct {
	MocapResult *MocapResult `protobuf:"bytes,1,opt,name=mocap_result,json=mocapResult,proto3" json:"mocap_result,omitempty"`
	// contains filtered or unexported fields
}

func (*SetOdometryResponse) Descriptor deprecated 

func (*SetOdometryResponse) Descriptor() ([]byte, []int)

Deprecated: Use SetOdometryResponse.ProtoReflect.Descriptor instead.

func (*SetOdometryResponse) GetMocapResult 

func (x *SetOdometryResponse) GetMocapResult() *MocapResult

func (*SetOdometryResponse) ProtoMessage 

func (*SetOdometryResponse) ProtoMessage()

func (*SetOdometryResponse) ProtoReflect 

func (x *SetOdometryResponse) ProtoReflect() protoreflect.Message

func (*SetOdometryResponse) Reset 

func (x *SetOdometryResponse) Reset()

func (*SetOdometryResponse) String 

func (x *SetOdometryResponse) String() string

type SetVisionPositionEstimateRequest 

type SetVisionPositionEstimateRequest struct {
	VisionPositionEstimate *VisionPositionEstimate `` // The vision position estimate
	/* 129-byte string literal not displayed */
	// contains filtered or unexported fields
}

func (*SetVisionPositionEstimateRequest) Descriptor deprecated 

func (*SetVisionPositionEstimateRequest) Descriptor() ([]byte, []int)

Deprecated: Use SetVisionPositionEstimateRequest.ProtoReflect.Descriptor instead.

func (*SetVisionPositionEstimateRequest) GetVisionPositionEstimate 

func (x *SetVisionPositionEstimateRequest) GetVisionPositionEstimate() *VisionPositionEstimate

func (*SetVisionPositionEstimateRequest) ProtoMessage 

func (*SetVisionPositionEstimateRequest) ProtoMessage()

func (*SetVisionPositionEstimateRequest) ProtoReflect 

func (x *SetVisionPositionEstimateRequest) ProtoReflect() protoreflect.Message

func (*SetVisionPositionEstimateRequest) Reset 

func (x *SetVisionPositionEstimateRequest) Reset()

func (*SetVisionPositionEstimateRequest) String 

func (x *SetVisionPositionEstimateRequest) String() string

type SetVisionPositionEstimateResponse 

type SetVisionPositionEstimateResponse struct {
	MocapResult *MocapResult `protobuf:"bytes,1,opt,name=mocap_result,json=mocapResult,proto3" json:"mocap_result,omitempty"`
	// contains filtered or unexported fields
}

func (*SetVisionPositionEstimateResponse) Descriptor deprecated 

func (*SetVisionPositionEstimateResponse) Descriptor() ([]byte, []int)

Deprecated: Use SetVisionPositionEstimateResponse.ProtoReflect.Descriptor instead.

func (*SetVisionPositionEstimateResponse) GetMocapResult 

func (x *SetVisionPositionEstimateResponse) GetMocapResult() *MocapResult

func (*SetVisionPositionEstimateResponse) ProtoMessage 

func (*SetVisionPositionEstimateResponse) ProtoMessage()

func (*SetVisionPositionEstimateResponse) ProtoReflect 

func (x *SetVisionPositionEstimateResponse) ProtoReflect() protoreflect.Message

func (*SetVisionPositionEstimateResponse) Reset 

func (x *SetVisionPositionEstimateResponse) Reset()

func (*SetVisionPositionEstimateResponse) String 

func (x *SetVisionPositionEstimateResponse) String() string

type SpeedBody 

type SpeedBody struct {
	XMS float32 `protobuf:"fixed32,1,opt,name=x_m_s,json=xMS,proto3" json:"x_m_s,omitempty"` // Velocity in X in metres/second.
	YMS float32 `protobuf:"fixed32,2,opt,name=y_m_s,json=yMS,proto3" json:"y_m_s,omitempty"` // Velocity in Y in metres/second.
	ZMS float32 `protobuf:"fixed32,3,opt,name=z_m_s,json=zMS,proto3" json:"z_m_s,omitempty"` // Velocity in Z in metres/second.
	// contains filtered or unexported fields
}

Speed type, represented in the Body (X Y Z) frame and in metres/second.

func (*SpeedBody) Descriptor deprecated 

func (*SpeedBody) Descriptor() ([]byte, []int)

Deprecated: Use SpeedBody.ProtoReflect.Descriptor instead.

func (*SpeedBody) GetXMS 

func (x *SpeedBody) GetXMS() float32

func (*SpeedBody) GetYMS 

func (x *SpeedBody) GetYMS() float32

func (*SpeedBody) GetZMS 

func (x *SpeedBody) GetZMS() float32

func (*SpeedBody) ProtoMessage 

func (*SpeedBody) ProtoMessage()

func (*SpeedBody) ProtoReflect 

func (x *SpeedBody) ProtoReflect() protoreflect.Message

func (*SpeedBody) Reset 

func (x *SpeedBody) Reset()

func (*SpeedBody) String 

func (x *SpeedBody) String() string

type UnimplementedMocapServiceServer 

type UnimplementedMocapServiceServer struct {
}

UnimplementedMocapServiceServer must be embedded to have forward compatible implementations.

func (UnimplementedMocapServiceServer) SetAttitudePositionMocap 

func (UnimplementedMocapServiceServer) SetAttitudePositionMocap(context.Context, *SetAttitudePositionMocapRequest) (*SetAttitudePositionMocapResponse, error)

func (UnimplementedMocapServiceServer) SetOdometry 

func (UnimplementedMocapServiceServer) SetOdometry(context.Context, *SetOdometryRequest) (*SetOdometryResponse, error)

func (UnimplementedMocapServiceServer) SetVisionPositionEstimate 

func (UnimplementedMocapServiceServer) SetVisionPositionEstimate(context.Context, *SetVisionPositionEstimateRequest) (*SetVisionPositionEstimateResponse, error)

type UnsafeMocapServiceServer 

type UnsafeMocapServiceServer interface {
	// contains filtered or unexported methods
}

UnsafeMocapServiceServer may be embedded to opt out of forward compatibility for this service. Use of this interface is not recommended, as added methods to MocapServiceServer will result in compilation errors.

type VisionPositionEstimate 

type VisionPositionEstimate struct {
	TimeUsec       uint64        `protobuf:"varint,1,opt,name=time_usec,json=timeUsec,proto3" json:"time_usec,omitempty"`                  // PositionBody frame timestamp UNIX Epoch time (0 to use Backend timestamp)
	PositionBody   *PositionBody `protobuf:"bytes,2,opt,name=position_body,json=positionBody,proto3" json:"position_body,omitempty"`       // Global position (m)
	AngleBody      *AngleBody    `protobuf:"bytes,3,opt,name=angle_body,json=angleBody,proto3" json:"angle_body,omitempty"`                // Body angle (rad).
	PoseCovariance *Covariance   `protobuf:"bytes,4,opt,name=pose_covariance,json=poseCovariance,proto3" json:"pose_covariance,omitempty"` // Pose cross-covariance matrix.
	// contains filtered or unexported fields
}

Global position/attitude estimate from a vision source.

func (*VisionPositionEstimate) Descriptor deprecated 

func (*VisionPositionEstimate) Descriptor() ([]byte, []int)

Deprecated: Use VisionPositionEstimate.ProtoReflect.Descriptor instead.

func (*VisionPositionEstimate) GetAngleBody 

func (x *VisionPositionEstimate) GetAngleBody() *AngleBody

func (*VisionPositionEstimate) GetPoseCovariance 

func (x *VisionPositionEstimate) GetPoseCovariance() *Covariance

func (*VisionPositionEstimate) GetPositionBody 

func (x *VisionPositionEstimate) GetPositionBody() *PositionBody

func (*VisionPositionEstimate) GetTimeUsec 

func (x *VisionPositionEstimate) GetTimeUsec() uint64

func (*VisionPositionEstimate) ProtoMessage 

func (*VisionPositionEstimate) ProtoMessage()

func (*VisionPositionEstimate) ProtoReflect 

func (x *VisionPositionEstimate) ProtoReflect() protoreflect.Message

func (*VisionPositionEstimate) Reset 

func (x *VisionPositionEstimate) Reset()

func (*VisionPositionEstimate) String 

func (x *VisionPositionEstimate) String() string

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