text: /****************************************************************************
   *
   *   Copyright (C) 2013-2016 PX4 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.
   *
   ****************************************************************************/
  
  /* Auto-generated by genmsg_cpp from file vehicle_odometry.msg */
  
  
  #pragma once
  
  
  #include <uORB/uORB.h>
  
  
  #ifndef __cplusplus
  #define VEHICLE_ODOMETRY_COVARIANCE_MATRIX_X_VARIANCE 0
  #define VEHICLE_ODOMETRY_COVARIANCE_MATRIX_Y_VARIANCE 6
  #define VEHICLE_ODOMETRY_COVARIANCE_MATRIX_Z_VARIANCE 11
  #define VEHICLE_ODOMETRY_COVARIANCE_MATRIX_ROLL_VARIANCE 15
  #define VEHICLE_ODOMETRY_COVARIANCE_MATRIX_PITCH_VARIANCE 18
  #define VEHICLE_ODOMETRY_COVARIANCE_MATRIX_YAW_VARIANCE 20
  #define VEHICLE_ODOMETRY_COVARIANCE_MATRIX_VX_VARIANCE 0
  #define VEHICLE_ODOMETRY_COVARIANCE_MATRIX_VY_VARIANCE 6
  #define VEHICLE_ODOMETRY_COVARIANCE_MATRIX_VZ_VARIANCE 11
  #define VEHICLE_ODOMETRY_COVARIANCE_MATRIX_ROLLRATE_VARIANCE 15
  #define VEHICLE_ODOMETRY_COVARIANCE_MATRIX_PITCHRATE_VARIANCE 18
  #define VEHICLE_ODOMETRY_COVARIANCE_MATRIX_YAWRATE_VARIANCE 20
  #define VEHICLE_ODOMETRY_LOCAL_FRAME_NED 0
  #define VEHICLE_ODOMETRY_LOCAL_FRAME_FRD 1
  #define VEHICLE_ODOMETRY_LOCAL_FRAME_OTHER 2
  #define VEHICLE_ODOMETRY_BODY_FRAME_FRD 3
  
  #endif
  
  
  #ifdef __cplusplus
  struct __EXPORT vehicle_odometry_s {
  #else
  struct vehicle_odometry_s {
  #endif
  	uint64_t timestamp;
  	uint64_t timestamp_sample;
  	float x;
  	float y;
  	float z;
  	float q[4];
  	float q_offset[4];
  	float pose_covariance[21];
  	float vx;
  	float vy;
  	float vz;
  	float rollspeed;
  	float pitchspeed;
  	float yawspeed;
  	float velocity_covariance[21];
  	uint8_t local_frame;
  	uint8_t velocity_frame;
  	uint8_t _padding0[2]; // required for logger
  
  
  #ifdef __cplusplus
  	static constexpr uint8_t COVARIANCE_MATRIX_X_VARIANCE = 0;
  	static constexpr uint8_t COVARIANCE_MATRIX_Y_VARIANCE = 6;
  	static constexpr uint8_t COVARIANCE_MATRIX_Z_VARIANCE = 11;
  	static constexpr uint8_t COVARIANCE_MATRIX_ROLL_VARIANCE = 15;
  	static constexpr uint8_t COVARIANCE_MATRIX_PITCH_VARIANCE = 18;
  	static constexpr uint8_t COVARIANCE_MATRIX_YAW_VARIANCE = 20;
  	static constexpr uint8_t COVARIANCE_MATRIX_VX_VARIANCE = 0;
  	static constexpr uint8_t COVARIANCE_MATRIX_VY_VARIANCE = 6;
  	static constexpr uint8_t COVARIANCE_MATRIX_VZ_VARIANCE = 11;
  	static constexpr uint8_t COVARIANCE_MATRIX_ROLLRATE_VARIANCE = 15;
  	static constexpr uint8_t COVARIANCE_MATRIX_PITCHRATE_VARIANCE = 18;
  	static constexpr uint8_t COVARIANCE_MATRIX_YAWRATE_VARIANCE = 20;
  	static constexpr uint8_t LOCAL_FRAME_NED = 0;
  	static constexpr uint8_t LOCAL_FRAME_FRD = 1;
  	static constexpr uint8_t LOCAL_FRAME_OTHER = 2;
  	static constexpr uint8_t BODY_FRAME_FRD = 3;
  
  #endif
  };
  
  /* register this as object request broker structure */
  ORB_DECLARE(vehicle_odometry);
  ORB_DECLARE(vehicle_mocap_odometry);
  ORB_DECLARE(vehicle_visual_odometry);
  ORB_DECLARE(vehicle_visual_odometry_aligned);
  
  
  #ifdef __cplusplus
  void print_message(const vehicle_odometry_s& message);
  #endif
  