Fusion Engine Client API Reference
topics with brief descriptions are:
| CRC Calculation/Message Validation Support | |
| Common Enumeration Definitions | |
| Message Definitions | Type definitions for all defined messages |
| Device Configuration, Control, And Status Messages | Messages for controlling device configuration and operation |
| Device Configuration Settings Control | Messages/types for configuring device parameters (lever arms, orientation, wheel speed settings, etc.) |
| @ref SatelliteType Bitmask Support | These values can be used to specify a bitmask for controlling enabled GNSS constellations |
| @ref FrequencyBand Bitmask Support | These values can be used to specify a bitmask for controlling enabled GNSS frequency bands |
| Device Configuration Import/Export | Messages for importing/exporting device configuration |
| Input/Output Interface And Message Rate Control | Messages for controlling device output (e.g., define TCP server parameters, configure message output rates) |
| GNSS Corrections Control | Messages for enabling/disabling GNSS corrections sources |
| Device Control Messages | Messages for high-level device control (reset, shutdown, etc.) |
| STA5635 Command/Control Messages | Messages for interacting with an attached STA5635 RF front-end device |
| Device Status/Information Messages | Messages for indicating high-level device status (notifications, software version, etc.) |
| System Fault Control | Messages/types for controlling or simulating system faults |
| Device Status/Information Messages | Messages for indicating high-level device status (notifications, software version, etc.) |
| GNSS Corrections Message Definitions | Messages containing GNSS corrections |
| Sensor Measurement Message Definitions | Measurement data from available sensors |
| ROS Support Message Definitions | Messages designed for direct translation to ROS |
| Navigation Solution Message Definitions | Output messages containing position, navigation, and time results |
| ROS Covariance Type Values | |
| Bit definitions for the satellite usage bitmask | (SatelliteInfo::usage) |
Description
This library provides message definitions and support functionality for interacting with Point One FusionEngine in real time, as well as processing recorded output data. Both C++ and Python are supported.
See https://github.com/PointOneNav/fusion-engine-client for requirements and installation/build instructions.
Message Format
All messages begin with a MessageHeader, followed by a message payload corresponding with the MessageType in the header.
See Message Definitions for a complete list of available messages.
ROS Message Support
For convenience, this library includes some messages that can be directly translated into ROS counterparts where ROS integration is required. See ROS Support Message Definitions.
Body Coordinate Frame Definition
The platform body axes are defined as +x forward, +y left, and +z up.
A positive yaw is a left turn, positive pitch points the nose of the vehicle down, and positive roll is a roll toward the right.
Yaw is measured from east in a counter-clockwise direction. For example, north is +90 degrees (i.e., heading = 90.0 - yaw).
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