RelativeENUPositionMessage Struct

Relative ENU position to base station (MessageType::RELATIVE_ENU_POSITION, version 1.1). More...

Declaration

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

Included Headers

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

Base struct

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

Public Member Attributes Index

Timestamp	gps_time
	The GPS time of the message, if available, referenced to 1980/1/6. More...
Timestamp	p1_time
	The time of the message, in P1 time (beginning at power-on). More...
float	position_std_enu_m[3] = {NAN, NAN, NAN}
	The position standard deviation (in meters), resolved with respect to the local ENU tangent plane: east, north, up. More...
uint32_t	reference_station_id = INVALID_REFERENCE_STATION
	The ID of the differential base station. More...
double	relative_position_enu_m[3] = {NAN, NAN, NAN}
	The relative position (in meters), resolved in the local ENU frame. More...
SolutionType	solution_type = SolutionType::Invalid
	The type of this position solution. More...

Public Static Attributes Index

static constexpr uint32_t	INVALID_REFERENCE_STATION = 0xFFFFFFFF
static constexpr MessageType	MESSAGE_TYPE = ...
static constexpr uint8_t	MESSAGE_VERSION = 1

Description

Relative ENU position to base station (MessageType::RELATIVE_ENU_POSITION, version 1.1).

info

This message represents the relationship between the navigation engine's position solution and a nearby RTK base station. It is not used to convey unfiltered vehicle body orientation measurements generated using multiple GNSS antennas. See GNSSAttitudeOutput instead.

Definition at line 675 of file solution.h.

Public Member Attributes

gps_time

Timestamp point_one::fusion_engine::messages::RelativeENUPositionMessage::gps_time

The GPS time of the message, if available, referenced to 1980/1/6.

Definition at line 686 of file solution.h.

686 Timestamp gps_time;

p1_time

Timestamp point_one::fusion_engine::messages::RelativeENUPositionMessage::p1_time

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

Definition at line 683 of file solution.h.

683 Timestamp p1_time;

position_std_enu_m

float point_one::fusion_engine::messages::RelativeENUPositionMessage::position_std_enu_m[3] = {NAN, NAN, NAN}

The position standard deviation (in meters), resolved with respect to the local ENU tangent plane: east, north, up.

info

If a differential solution to the base station is not available, these values will be NAN.

Definition at line 713 of file solution.h.

713 float position_std_enu_m[3] = {NAN, NAN, NAN};

reference_station_id

uint32_t point_one::fusion_engine::messages::RelativeENUPositionMessage::reference_station_id = INVALID_REFERENCE_STATION

The ID of the differential base station.

Definition at line 694 of file solution.h.

694 uint32_t reference_station_id = INVALID_REFERENCE_STATION;

relative_position_enu_m

double point_one::fusion_engine::messages::RelativeENUPositionMessage::relative_position_enu_m[3] = {NAN, NAN, NAN}

The relative position (in meters), resolved in the local ENU frame.

info

If a differential solution to the base station is not available, these values will be NAN.

Definition at line 703 of file solution.h.

703 double relative_position_enu_m[3] = {NAN, NAN, NAN};

solution_type

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

The type of this position solution.

Definition at line 689 of file solution.h.

689 SolutionType solution_type = SolutionType::Invalid;

Public Static Attributes

INVALID_REFERENCE_STATION

constexpr uint32_t point_one::fusion_engine::messages::RelativeENUPositionMessage::INVALID_REFERENCE_STATION = 0xFFFFFFFF

constexpr static

Definition at line 680 of file solution.h.

680 static constexpr uint32_t INVALID_REFERENCE_STATION = 0xFFFFFFFF;

MESSAGE_TYPE

constexpr MessageType point_one::fusion_engine::messages::RelativeENUPositionMessage::MESSAGE_TYPE

constexpr static

Initialiser

= MessageType::RELATIVE_ENU_POSITION

Definition at line 676 of file solution.h.

676 static constexpr MessageType MESSAGE_TYPE =

MESSAGE_VERSION

constexpr uint8_t point_one::fusion_engine::messages::RelativeENUPositionMessage::MESSAGE_VERSION = 1

constexpr static

Definition at line 678 of file solution.h.

678 static constexpr uint8_t MESSAGE_VERSION = 1;

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

• solution.h

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