Onboard-SDK-ROS
DJI_Camera.h
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1 
13 #ifndef DJI_CAMERA_H
14 #define DJI_CAMERA_H
15 
16 #include "DJI_API.h"
17 
18 namespace DJI
19 {
20 namespace onboardSDK
21 {
22 class Camera
23 {
24  public:
25  enum CAMERA_CODE
26  {
27  CODE_GIMBAL_SPEED = 0x1A,
28  CODE_GIMBAL_ANGLE = 0x1B,
29  CODE_CAMERA_SHOT = 0x20,
30  CODE_CAMERA_VIDEO_START = 0x21,
31  CODE_CAMERA_VIDEO_STOP = 0x22
32  };
33 
34  public:
35  Camera(CoreAPI *ControlAPI = 0);
36 
39  void setCamera(CAMERA_CODE camera_cmd);
40  void setGimbalAngle(GimbalAngleData *data);
41  void setGimbalSpeed(GimbalSpeedData *data);
42 
43  GimbalData getGimbal() const;
44  float32_t getYaw() const;
45  float32_t getRoll() const;
46  float32_t getPitch() const;
47  bool isYawLimit() const;
48  bool isRollLimit() const;
49  bool isPitchLimit() const;
50 
51  public:
52  CoreAPI *getApi() const;
53  void setApi(CoreAPI *value);
54 
55  private:
56  CoreAPI *api;
57 };
58 } // namespace onboardSDK
59 } // namespace DJI
60 
61 #endif // DJI_CAMERA_H
Definition: DJI_Type.h:214
Core API for DJI onboardSDK library.
Definition: DJI_Type.h:223
CoreAPI implements core Open Protocol communication between M100/M600/A3 and your onboard embedded pl...
Definition: DJI_API.h:195
Definition: DJI_Type.h:353
Definition: DJI_Camera.h:22
Definition: DJI_Mission.cpp:16
void setCamera(CAMERA_CODE camera_cmd)
Definition: DJI_Camera.cpp:19
CoreAPI * getApi() const
Definition: DJI_Camera.cpp:66