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abhaybd committed Nov 15, 2023
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210 changes: 106 additions & 104 deletions ArduPilotProtocol_8h_source.html

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6 changes: 3 additions & 3 deletions classnet_1_1ardupilot_1_1ArduPilotProtocol.html
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<a class="el" href="classrobot_1_1types_1_1DataPoint.html">robot::types::DataPoint</a>&lt; <a class="el" href="structnavtypes_1_1gpscoords__t.html">navtypes::gpscoords_t</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>getGPS</b> ()</td></tr>
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<a class="el" href="classrobot_1_1types_1_1DataPoint.html">robot::types::DataPoint</a>&lt; <a class="el" href="structnavtypes_1_1eulerangles__t.html">navtypes::eulerangles_t</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>getIMU</b> ()</td></tr>
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<a class="el" href="classrobot_1_1types_1_1DataPoint.html">robot::types::DataPoint</a>&lt; <a class="elRef" href="https://eigen.tuxfamily.org/dox/group__Geometry__Module.html#ga5daab8e66aa480465000308455578830">Eigen::Quaterniond</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>getIMU</b> ()</td></tr>
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<a class="el" href="classrobot_1_1types_1_1DataPoint.html">robot::types::DataPoint</a>&lt; int &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>getHeading</b> ()</td></tr>
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<tr id="row_7_" class="odd"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_7_" class="arrow" onclick="toggleFolder('7_')">&#9660;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classcommands_1_1CommandBase.html" target="_self">commands::CommandBase</a></td><td class="desc"></td></tr>
<tr id="row_7_0_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classcommands_1_1DriveToWaypointCommand.html" target="_self">commands::DriveToWaypointCommand</a></td><td class="desc">Provides robot drive velocity commands to navigate the robot to a given waypoint given the velocity parameters to drive the robot at, the proportional factor to steer the robot with and the 2D Cartesian position of the target in the world reference frame </td></tr>
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<tr id="row_10_" class="odd"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classrobot_1_1types_1_1DataPoint.html" target="_self">robot::types::DataPoint&lt; navtypes::eulerangles_t &gt;</a></td><td class="desc"></td></tr>
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<tr id="row_10_" class="odd"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classrobot_1_1types_1_1DataPoint.html" target="_self">robot::types::DataPoint&lt; int &gt;</a></td><td class="desc"></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="func-members" name="func-members"></a>
Functions</h2></td></tr>
<tr class="memitem:a3f8fc5debdefdeabfc112aeb31ca114c" id="r_a3f8fc5debdefdeabfc112aeb31ca114c"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classrobot_1_1types_1_1DataPoint.html">DataPoint</a>&lt; <a class="el" href="structnavtypes_1_1eulerangles__t.html">eulerangles_t</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacerobot.html#a3f8fc5debdefdeabfc112aeb31ca114c">readIMU</a> ()</td></tr>
<tr class="memdesc:a3f8fc5debdefdeabfc112aeb31ca114c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Read the rover attitude from the IMU. <br /></td></tr>
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<tr class="memdesc:a5a626747243a1f2ab9a842dc08399159"><td class="mdescLeft">&#160;</td><td class="mdescRight">Read the rover orientation from the IMU. <br /></td></tr>
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<tr class="memitem:aa11e482ffaef27ea65955d70d7eaa6a9" id="r_aa11e482ffaef27ea65955d70d7eaa6a9"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classrobot_1_1types_1_1DataPoint.html">DataPoint</a>&lt; double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacerobot.html#aa11e482ffaef27ea65955d70d7eaa6a9">readIMUHeading</a> ()</td></tr>
<tr class="memdesc:aa11e482ffaef27ea65955d70d7eaa6a9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Read the current heading in the global map frame based on an IMU measurement. <br /></td></tr>
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</div>
</div>
<a id="a3f8fc5debdefdeabfc112aeb31ca114c" name="a3f8fc5debdefdeabfc112aeb31ca114c"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a3f8fc5debdefdeabfc112aeb31ca114c">&#9670;&#160;</a></span>readIMU()</h2>
<a id="a5a626747243a1f2ab9a842dc08399159" name="a5a626747243a1f2ab9a842dc08399159"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a5a626747243a1f2ab9a842dc08399159">&#9670;&#160;</a></span>readIMU()</h2>

<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname"><a class="el" href="classrobot_1_1types_1_1DataPoint.html">types::DataPoint</a>&lt; <a class="el" href="structnavtypes_1_1eulerangles__t.html">navtypes::eulerangles_t</a> &gt; robot::readIMU </td>
<td class="memname"><a class="el" href="classrobot_1_1types_1_1DataPoint.html">types::DataPoint</a>&lt; <a class="elRef" href="https://eigen.tuxfamily.org/dox/group__Geometry__Module.html#ga5daab8e66aa480465000308455578830">Eigen::Quaterniond</a> &gt; robot::readIMU </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td></td>
</tr>
</table>
</div><div class="memdoc">

<p>Read the rover attitude from the IMU. </p>
<p>Euler angles are in radians, in RPY format (i.e. XYZ extrinsic)</p>
<dl class="section see"><dt>See also</dt><dd><a href="https://en.wikipedia.org/wiki/Euler_angles#Tait%E2%80%93Bryan_angles">https://en.wikipedia.org/wiki/Euler_angles#Tait%E2%80%93Bryan_angles</a></dd></dl>
<dl class="section return"><dt>Returns</dt><dd>types::DataPoint&lt;navtypes::eulerangles_t&gt; </dd></dl>
<p>Read the rover orientation from the IMU. </p>
<dl class="section return"><dt>Returns</dt><dd>types::DataPoint&lt;Eigen::Quaterniond&gt; </dd></dl>

</div>
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