98 void connect(
const std::string &connection_info);
103 float getBatteryLevel()
const;
104 void getPosition(
float &ned_north,
float &ned_east,
float &ned_down,
float &ned_yaw)
const;
106 std::tuple<float, float> getHome()
const;
107 std::string getAddress()
const;
108 bool isRunning()
const;
116 bool hasFlyingCapability();
120 bool releaseControl();
122 void setAutoLand(
bool auto_land);
123 bool setForwardSpeed(
double body_frd_vx);
124 bool setLateralSpeed(
double body_frd_vy);
125 bool setGPSGlobalOrigin(
double latitude,
double longitude,
double altitude);
126 void setPositioningIncertitude(
float position_incertitude,
float yaw_incertitude);
127 bool setPosition(
float ned_north,
float ned_east,
float ned_down,
float ned_yaw,
bool blocking =
true,
128 int timeout_sec = 10);
129 bool setPosition(
const vpHomogeneousMatrix &ned_M_frd,
bool blocking =
true,
int timeout_sec = 10);
130 bool setPositionRelative(
float ned_delta_north,
float ned_delta_east,
float ned_delta_down,
float ned_delta_yaw,
131 bool blocking =
true,
int timeout_sec = 10);
132 bool setPositionRelative(
const vpHomogeneousMatrix &delta_frd_M_frd,
bool blocking =
true,
int timeout_sec = 10);
134 bool setVerticalSpeed(
double body_frd_vz);
135 bool setYawSpeed(
double body_frd_wz);
136 void setTakeOffAlt(
double altitude);
137 void setVerbose(
bool verbose);
140 bool takeOff(
bool interactive =
true,
int timeout_sec = 10,
bool use_gps =
false);
141 bool takeOff(
bool interactive,
double takeoff_altitude,
int timeout_sec = 10,
bool use_gps =
false);
147 void createDroneController();
148 void setupCallbacks();
149 void startController();
154 class vpRobotMavsdkImpl;
155 vpRobotMavsdkImpl *m_impl;