CoarseOrientation Struct

The orientation of a device with respect to the vehicle body axes. More...

Declaration

struct point_one::fusion_engine::messages::CoarseOrientation { ... }

Included Headers

#include <point_one/fusion_engine/messages/configuration.h>

Enumerations Index

enum class	Direction : uint8_t { ... }

Public Member Attributes Index

Direction	x_direction = Direction::FORWARD
	The direction of the device +x axis relative to the vehicle body axes. More...
Direction	z_direction = Direction::UP
	The direction of the device +z axis relative to the vehicle body axes. More...

Description

The orientation of a device with respect to the vehicle body axes.

A device's orientation is defined by specifying how the +x and +z axes of its IMU are aligned with the vehicle body axes. For example, in a car:

• forward,up: device +x = vehicle +x, device +z = vehicle +z (i.e., IMU pointed towards the front of the vehicle).
• left,up: device +x = vehicle +y, device +z = vehicle +z (i.e., IMU pointed towards the left side of the vehicle)
• up,backward: device +x = vehicle +z, device +z = vehicle -x (i.e., IMU pointed vertically upward, with the top of the IMU pointed towards the trunk)

Definition at line 658 of file configuration.h.

Enumerations

Direction

enum class point_one::fusion_engine::messages::CoarseOrientation::Direction : uint8_t

strong

Enumeration values

FORWARD	Aligned with vehicle +x axis (= 0)
BACKWARD	Aligned with vehicle -x axis (= 1)
LEFT	Aligned with vehicle +y axis (= 2)
RIGHT	Aligned with vehicle -y axis (= 3)
UP	Aligned with vehicle +z axis (= 4)
DOWN	Aligned with vehicle -z axis (= 5)
INVALID	(= 255)

Definition at line 659 of file configuration.h.

659 enum class Direction : uint8_t {

660 FORWARD = 0, ///< Aligned with vehicle +x axis.

661 BACKWARD = 1, ///< Aligned with vehicle -x axis.

662 LEFT = 2, ///< Aligned with vehicle +y axis.

663 RIGHT = 3, ///< Aligned with vehicle -y axis.

664 UP = 4, ///< Aligned with vehicle +z axis.

665 DOWN = 5, ///< Aligned with vehicle -z axis.

666 INVALID = 255

667 };

Public Member Attributes

x_direction

Direction point_one::fusion_engine::messages::CoarseOrientation::x_direction = Direction::FORWARD

The direction of the device +x axis relative to the vehicle body axes.

Definition at line 670 of file configuration.h.

670 Direction x_direction = Direction::FORWARD;

z_direction

Direction point_one::fusion_engine::messages::CoarseOrientation::z_direction = Direction::UP

The direction of the device +z axis relative to the vehicle body axes.

Definition at line 673 of file configuration.h.

673 Direction z_direction = Direction::UP;

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The documentation for this struct was generated from the following file:

• configuration.h

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