Inter-thread data structures. More...

#include "math/pprz_algebra_float.h"
#include "math/pprz_algebra_int.h"

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Detailed Description

Inter-thread data structures.

Data structures used to for inter-thread communication via Unix Domain sockets.

Definition in file inter_thread_data.h.

Data Structure Documentation

struct opticflow_result_t

Definition at line 37 of file inter_thread_data.h.

Data Fields
uint16_t	corner_cnt	The amount of coners found by FAST9.
float	div_size	Divergence as determined with the size_divergence script.
float	divergence	Divergence as determined with a linear flow fit.
int16_t	flow_der_x	The derotated flow calculation in the x direction (in subpixels)
int16_t	flow_der_y	The derotated flow calculation in the y direction (in subpixels)
int16_t	flow_x	Flow in x direction from the camera (in subpixels)
int16_t	flow_y	Flow in y direction from the camera (in subpixels)
float	fps	Frames per second of the optical flow calculation.
float	noise_measurement	noise of measurement, for state filter
float	surface_roughness	Surface roughness as determined with a linear optical flow fit.
uint16_t	tracked_cnt	The amount of tracked corners.
float	vel_body_x	The velocity in the x direction (body fixed coordinates)
float	vel_body_y	The velocity in the y direction (body fixed coordinates)
float	vel_x	The velocity in the x direction (image coordinates)
float	vel_y	The velocity in the y direction (image coordinates)

struct opticflow_state_t

Definition at line 62 of file inter_thread_data.h.

Collaboration diagram for opticflow_state_t:

Data Fields
struct Int32Vect3	accel_imu_meas	imu acceleration in imu's coordinates
float	agl	height above ground [m]
struct FloatQuat	imu_to_body_quat	imu to body quaternion
struct FloatRates	rates	Body rates.