Library of guidance PositionTrajectoryPoint() and EulerAnglesZyx

[ClementLeBihan]

Hi,

I’m trying to code a semi-custom guidance mode based on TrajectoryFcamMode.

I understood I need to call setDroneNominalPositionTrajectoryLocal and setFcamEulerAnglesZyxNedStart with a guidance::PositionTrajectoryPoint and a guidance::EulerAnglesZyx.

Which library should I link with my code to make it works ?

For now here is my atom.mk :

################################################################################
# Guidance hello modes (C++)
################################################################################

LOCAL_PATH := $(call my-dir)

include $(CLEAR_VARS)

LOCAL_MODULE := airsdk-hello-guidance-xxx
LOCAL_MODULE_FILENAME := airsdk-hello-guidance-xxx.so
LOCAL_DESCRIPTION := Guidance C++ modes for xxx
LOCAL_CATEGORY_PATH := airsdk/missions/samples/hello
LOCAL_DESTDIR := missions/com.parrot.missions.samples.hello/payload/guidance
LOCAL_CXXFLAGS := -std=c++11
LOCAL_SRC_FILES := \
	modetest.cpp
LOCAL_LIBRARIES := \
	eigen \
	libairsdk-hello-guidance-msghub \
	libairsdk-hello-guidance-pb \
	libguidance-plugin \
	libguidance-pb \
	libguidance-msghub \
	libmsghub \
	libtelemetry \
	libulog \
	protobuf

include $(BUILD_SHARED_LIBRARY)

And here is the error I god :

 undefined reference to `guidance::EulerAnglesZyx::EulerAnglesZyx()' and undefined reference to `guidance::PositionTrajectoryPoint::PositionTrajectoryPoint()'

Any help ?

Best,
Clément

[ClementLeBihan]

Here is the missing lib : libguidance-utils