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PoseAuxMessage Struct

Auxiliary platform pose information (MessageType::POSE_AUX, version 1). More...

Declaration​

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

Included Headers​

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

Base struct​

structMessagePayload

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

Public Member Attributes Index​

doubleattitude_quaternion[4] = {NAN, NAN, NAN, NAN}

The platform body orientation with respect to the local ENU frame, represented as a quaternion with the scalar component last (x, y, z, w). More...

Timestampp1_time

The time of the message, in P1 time (beginning at power-on). More...

doubleposition_cov_enu_m2[9] = {NAN}

The 3x3 position covariance matrix (in m^2), resolved in the local ENU frame. More...

floatposition_std_body_m[3] = {NAN, NAN, NAN}

The position standard deviation (in meters), resolved in the body frame. More...

doublevelocity_enu_mps[3] = {NAN, NAN, NAN}

The platform velocity (in meters/second), resolved in the local ENU frame. More...

floatvelocity_std_enu_mps[3] = {NAN, NAN, NAN}

The velocity standard deviation (in meters/second), resolved in the local ENU frame. More...

Public Static Attributes Index​

static constexpr MessageTypeMESSAGE_TYPE = MessageType::POSE_AUX
static constexpr uint8_tMESSAGE_VERSION = 0

Description​

Auxiliary platform pose information (MessageType::POSE_AUX, version 1).

Definition at line 174 of file solution.h.

Public Member Attributes​

attitude_quaternion​

double point_one::fusion_engine::messages::PoseAuxMessage::attitude_quaternion[4] = {NAN, NAN, NAN, NAN}

The platform body orientation with respect to the local ENU frame, represented as a quaternion with the scalar component last (x, y, z, w).

Definition at line 198 of file solution.h.

198 double attitude_quaternion[4] = {NAN, NAN, NAN, NAN};

p1_time​

Timestamp point_one::fusion_engine::messages::PoseAuxMessage::p1_time

The time of the message, in P1 time (beginning at power-on).

Definition at line 179 of file solution.h.

179 Timestamp p1_time;

position_cov_enu_m2​

double point_one::fusion_engine::messages::PoseAuxMessage::position_cov_enu_m2[9] = {NAN}

The 3x3 position covariance matrix (in m^2), resolved in the local ENU frame.

Values are stored in row-major order.

Definition at line 192 of file solution.h.

192 double position_cov_enu_m2[9] = {NAN};

position_std_body_m​

float point_one::fusion_engine::messages::PoseAuxMessage::position_std_body_m[3] = {NAN, NAN, NAN}

The position standard deviation (in meters), resolved in the body frame.

Set to NAN if attitude is not available for the body frame transformation.

Definition at line 186 of file solution.h.

186 float position_std_body_m[3] = {NAN, NAN, NAN};

velocity_enu_mps​

double point_one::fusion_engine::messages::PoseAuxMessage::velocity_enu_mps[3] = {NAN, NAN, NAN}

The platform velocity (in meters/second), resolved in the local ENU frame.

Definition at line 203 of file solution.h.

203 double velocity_enu_mps[3] = {NAN, NAN, NAN};

velocity_std_enu_mps​

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

The velocity standard deviation (in meters/second), resolved in the local ENU frame.

Definition at line 209 of file solution.h.

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

Public Static Attributes​

MESSAGE_TYPE​

constexpr MessageType point_one::fusion_engine::messages::PoseAuxMessage::MESSAGE_TYPE = MessageType::POSE_AUX
 constexpr static

Definition at line 175 of file solution.h.

175 static constexpr MessageType MESSAGE_TYPE = MessageType::POSE_AUX;

MESSAGE_VERSION​

constexpr uint8_t point_one::fusion_engine::messages::PoseAuxMessage::MESSAGE_VERSION = 0
 constexpr static

Definition at line 176 of file solution.h.

176 static constexpr uint8_t MESSAGE_VERSION = 0;

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

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