ExternalPoseInput Struct

External pose measurement input (MessageType::EXTERNAL_POSE_INPUT, version 1.0). More...

Declaration

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

Included Headers

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

Base struct

struct	MessagePayload
	The base class for all message payloads. More...

Public Member Attributes Index

MeasurementDetails	details
	Measurement timestamp and additional information. More...
uint32_t	flags = 0
	A bitmask of flags associated with the measurement. More...
double	position_ecef_m[3] = {NAN, NAN, NAN}
	An estimate of the device's output position (in meters), resolved in the ECEF frame. More...
float	position_std_ecef_m[3] = {NAN, NAN, NAN}
	An estimate of the device's output position standard deviation (in meters), resolved in the ECEF frame. More...
SolutionType	solution_type = SolutionType::Invalid
	The pose solution type provided by the external source. More...
float	velocity_enu_mps[3] = {NAN, NAN, NAN}
	An estimate of the device's output velocity (in m/s), resolved in the local ENU tangent plane. More...
float	velocity_std_enu_mps[3] = {NAN, NAN, NAN}
	An estimate of the device's output velocity standard deviation (in m/s), resolved in the local ENU tangent plane. More...
float	ypr_deg[3] = {NAN, NAN, NAN}
	An estimate of the device's output orientation (in degrees), resolved in the local ENU tangent plane. More...
float	ypr_std_deg[3] = {NAN, NAN, NAN}
	An estimate of the device's output orientation standard deviation (in degrees). More...

Public Static Attributes Index

static constexpr uint32_t	FLAG_RESET_POSITION_DATA = 0x01
	Equivalent to sending a reset message. More...
static constexpr MessageType	MESSAGE_TYPE = MessageType::EXTERNAL_POSE_INPUT
static constexpr uint8_t	MESSAGE_VERSION = 0

Description

External pose measurement input (MessageType::EXTERNAL_POSE_INPUT, version 1.0).

This message is an input to the device containing pose and velocity measurements generated by an external source (for example, another Point One device or a vision system).

Position is expressed in the ECEF frame, and velocity is expressed in the local ENU frame. position_ecef_m should correspond to the output lever arm point configured on the receiving device (see ConfigType::OUTPUT_LEVER_ARM), so that the position matches the point the device will report in its own PoseMessage after initialization.

Orientation is specified as yaw, pitch, roll (YPR) angles in the local ENU frame, following the same intrinsic Euler-321 convention as PoseMessage::ypr_deg.

Any elements that are not available should be set to NAN. Standard deviation fields are specified in the same units as the corresponding measurement.

Definition at line 1294 of file measurements.h.

Public Member Attributes

details

MeasurementDetails point_one::fusion_engine::messages::ExternalPoseInput::details

Measurement timestamp and additional information.

Definition at line 1302 of file measurements.h.

1302 MeasurementDetails details;

flags

uint32_t point_one::fusion_engine::messages::ExternalPoseInput::flags = 0

A bitmask of flags associated with the measurement.

Definition at line 1310 of file measurements.h.

1310 uint32_t flags = 0;

position_ecef_m

double point_one::fusion_engine::messages::ExternalPoseInput::position_ecef_m[3] = {NAN, NAN, NAN}

An estimate of the device's output position (in meters), resolved in the ECEF frame.

Definition at line 1316 of file measurements.h.

1316 double position_ecef_m[3] = {NAN, NAN, NAN};

position_std_ecef_m

float point_one::fusion_engine::messages::ExternalPoseInput::position_std_ecef_m[3] = {NAN, NAN, NAN}

An estimate of the device's output position standard deviation (in meters), resolved in the ECEF frame.

Definition at line 1322 of file measurements.h.

1322 float position_std_ecef_m[3] = {NAN, NAN, NAN};

solution_type

SolutionType point_one::fusion_engine::messages::ExternalPoseInput::solution_type = SolutionType::Invalid

The pose solution type provided by the external source.

Definition at line 1305 of file measurements.h.

1305 SolutionType solution_type = SolutionType::Invalid;

velocity_enu_mps

float point_one::fusion_engine::messages::ExternalPoseInput::velocity_enu_mps[3] = {NAN, NAN, NAN}

An estimate of the device's output velocity (in m/s), resolved in the local ENU tangent plane.

Definition at line 1339 of file measurements.h.

1339 float velocity_enu_mps[3] = {NAN, NAN, NAN};

velocity_std_enu_mps

float point_one::fusion_engine::messages::ExternalPoseInput::velocity_std_enu_mps[3] = {NAN, NAN, NAN}

An estimate of the device's output velocity standard deviation (in m/s), resolved in the local ENU tangent plane.

Definition at line 1345 of file measurements.h.

1345 float velocity_std_enu_mps[3] = {NAN, NAN, NAN};

ypr_deg

float point_one::fusion_engine::messages::ExternalPoseInput::ypr_deg[3] = {NAN, NAN, NAN}

An estimate of the device's output orientation (in degrees), resolved in the local ENU tangent plane.

See PoseMessage::ypr_deg for a complete rotation definition.

Definition at line 1328 of file measurements.h.

1328 float ypr_deg[3] = {NAN, NAN, NAN};

ypr_std_deg

float point_one::fusion_engine::messages::ExternalPoseInput::ypr_std_deg[3] = {NAN, NAN, NAN}

An estimate of the device's output orientation standard deviation (in degrees).

Definition at line 1333 of file measurements.h.

1333 float ypr_std_deg[3] = {NAN, NAN, NAN};

Public Static Attributes

FLAG_RESET_POSITION_DATA

constexpr uint32_t point_one::fusion_engine::messages::ExternalPoseInput::FLAG_RESET_POSITION_DATA = 0x01

constexpr static

Equivalent to sending a reset message.

See ResetRequest.

Definition at line 1299 of file measurements.h.

1299 static constexpr uint32_t FLAG_RESET_POSITION_DATA = 0x01;

MESSAGE_TYPE

constexpr MessageType point_one::fusion_engine::messages::ExternalPoseInput::MESSAGE_TYPE = MessageType::EXTERNAL_POSE_INPUT

constexpr static

Definition at line 1295 of file measurements.h.

1295 static constexpr MessageType MESSAGE_TYPE = MessageType::EXTERNAL_POSE_INPUT;

MESSAGE_VERSION

constexpr uint8_t point_one::fusion_engine::messages::ExternalPoseInput::MESSAGE_VERSION = 0

constexpr static

Definition at line 1296 of file measurements.h.

1296 static constexpr uint8_t MESSAGE_VERSION = 0;

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

• measurements.h

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