Merge pull request #1235 from Tonirayn/master

Introduce additional functionalities in vpRobotMavsdk
lagadic · Sep 20, 2023 · bbf9fe8 · bbf9fe8
2 parents bd8598e + ccb766e
commit bbf9fe8
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Showing 2 changed files with 241 additions and 174 deletions.
diff --git a/modules/robot/include/visp3/robot/vpRobotMavsdk.h b/modules/robot/include/visp3/robot/vpRobotMavsdk.h
@@ -105,7 +105,7 @@ class VISP_EXPORT vpRobotMavsdk
   void getPosition(vpHomogeneousMatrix &ned_M_frd) const;
   std::tuple<float, float> getHome() const;
   std::string getAddress() const;
-   bool isRunning() const;
+  bool isRunning() const;
   //@}
 
   //! \name Robot commands
@@ -124,9 +124,11 @@ class VISP_EXPORT vpRobotMavsdk
   bool setLateralSpeed(double body_frd_vy);
   bool setGPSGlobalOrigin(double latitude, double longitude, double altitude);
   void setPositioningIncertitude(float position_incertitude, float yaw_incertitude);
-  bool setPosition(float ned_north, float ned_east, float ned_down, float ned_yaw, bool blocking = true, int timeout_sec = 10);
+  bool setPosition(float ned_north, float ned_east, float ned_down, float ned_yaw, bool blocking = true,
+                   int timeout_sec = 10);
   bool setPosition(const vpHomogeneousMatrix &ned_M_frd, bool blocking = true, int timeout_sec = 10);
-  bool setPositionRelative(float ned_delta_north, float ned_delta_east, float ned_delta_down, float ned_delta_yaw, bool blocking = true, int timeout_sec = 10);
+  bool setPositionRelative(float ned_delta_north, float ned_delta_east, float ned_delta_down, float ned_delta_yaw,
+                           bool blocking = true, int timeout_sec = 10);
   bool setPositionRelative(const vpHomogeneousMatrix &delta_frd_M_frd, bool blocking = true, int timeout_sec = 10);
   bool setVelocity(const vpColVector &frd_vel_cmd);
   bool setVerticalSpeed(double body_frd_vz);
@@ -135,8 +137,8 @@ class VISP_EXPORT vpRobotMavsdk
   void setVerbose(bool verbose);
   bool stopMoving();
   bool takeControl();
-  bool takeOff(bool interactive = true, int timeout_sec = 10);
-  bool takeOff(bool interactive, double takeoff_altitude, int timeout_sec = 10);
+  bool takeOff(bool interactive = true, int timeout_sec = 10, bool use_gps = false);
+  bool takeOff(bool interactive, double takeoff_altitude, int timeout_sec = 10, bool use_gps = false);
   //@}
 
 private: