Test external vision

test/sensor_simulator/vio.h

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+/****************************************************************************
+ *
+ *   Copyright (c) 2019 ECL Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * Feeds Ekf external vision data
+ * @author Kamil Ritz <ka.ritz@hotmail.com>
+ */
+#pragma once
+
+#include "sensor.h"
+
+namespace sensor_simulator
+{
+namespace sensor
+{
+
+class Vio: public Sensor
+{
+public:
+	Vio(std::shared_ptr<Ekf> ekf);
+	~Vio();
+
+	void setData(const ext_vision_message& vio_data);
+	void setVelocityVariance(const Vector3f& velVar);
+	void setPositionVariance(const Vector3f& posVar);
+	void setAngularVariance(float angVar);
+	void setVelocity(const Vector3f& vel);
+	void setPosition(const Vector3f& pos);
+	void setOrientation(const Quatf& quat);
+
+	ext_vision_message dataAtRest();
+
+private:
+	ext_vision_message _vio_data;
+
+	void send(uint32_t time) override;
+
+};
+
+} // namespace sensor
+} // namespace sensor_simulator