flightgoggles_ros_bridge/src/GeneralClient/GeneralClient.cpp
/**
 * posePublisher publish the current pose to FG
 * @param self General client object
 */
posePublisher publish the current pose to FG
@param self General client object
posePublisher publish the current pose to FG @param self General client object
void posePublisher(GeneralClient *self){
  while (true){
    self->updateCameraTrajectory();
    self->flightGoggles.state.ntime = self->flightGoggles.getTimestamp();
    self->flightGoggles.requestRender();
    usleep(1e6/60.0f);
    }
}
void posePublisher ( GeneralClient * self ) { while ( true ) { self -> updateCameraTrajectory ( ) ; self -> flightGoggles . state . ntime = self -> flightGoggles . getTimestamp ( ) ; self -> flightGoggles . requestRender ( ) ; usleep ( 1e6 / 60.0f ) ; } }
posePublisher publish the current pose to FG
 @param self General client object
posePublisher publish the current pose to FG @param self General client object
// Sends render requests to FlightGoggles indefinitely // Update camera position // Update timestamp of state message (needed to force FlightGoggles to rerender scene) // request render // Throttle requests to 60hz.