VehicleSpeedInput Struct

Vehicle body speed measurement input (MessageType::VEHICLE_SPEED_INPUT, version 1). More...

Declaration

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

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, if available. More...
uint8_t	flags = 0x0
	A bitmask of flags associated with the measurement data. More...
GearType	gear = GearType::UNKNOWN
	The transmission gear currently in use, or direction of motion, if available. More...
int32_t	vehicle_speed = INT32_MAX
	The current vehicle speed estimate (in m/s * 2^-10). More...

Public Static Attributes Index

static constexpr uint8_t	FLAG_SIGNED = 0x1
	Set this flag if the measured wheel speeds are signed (positive forward, negative reverse). More...
static constexpr MessageType	MESSAGE_TYPE = MessageType::VEHICLE_SPEED_INPUT
static constexpr uint8_t	MESSAGE_VERSION = 0

Description

Vehicle body speed measurement input (MessageType::VEHICLE_SPEED_INPUT, version 1).

This message is an input to the device, used to convey the along-track speed of the vehicle (forward/backward). For differential speed measurements for multiple wheels, see WheelSpeedInput.

To use vehicle speed data, you must first configure the device by issuing a SetConfigMessage message containing a WheelConfig payload describing the vehicle sensor configuration (speed data signed/unsigned, etc.).

Some platforms may have an additional signal used to indicate direction of motion, have direction or gear information available from a vehicle CAN bus, etc. If direction/gear information is available, it may be provided in the gear field.

To send wheel tick counts from software, use VehicleTickInput instead.

See also VehicleSpeedOutput for measurement output.

Definition at line 651 of file measurements.h.

Public Member Attributes

details

MeasurementDetails point_one::fusion_engine::messages::VehicleSpeedInput::details

Measurement timestamp and additional information, if available.

See MeasurementDetails for details.

Definition at line 666 of file measurements.h.

666 MeasurementDetails details;

flags

uint8_t point_one::fusion_engine::messages::VehicleSpeedInput::flags = 0x0

A bitmask of flags associated with the measurement data.

Definition at line 684 of file measurements.h.

684 uint8_t flags = 0x0;

gear

GearType point_one::fusion_engine::messages::VehicleSpeedInput::gear = GearType::UNKNOWN

The transmission gear currently in use, or direction of motion, if available.

Set to GearType::FORWARD or GearType::REVERSE where vehicle direction information is available externally.

Definition at line 681 of file measurements.h.

681 GearType gear = GearType::UNKNOWN;

vehicle_speed

int32_t point_one::fusion_engine::messages::VehicleSpeedInput::vehicle_speed = INT32_MAX

The current vehicle speed estimate (in m/s * 2^-10).

Set to 0x7FFFFFFF if not available.

Definition at line 672 of file measurements.h.

672 int32_t vehicle_speed = INT32_MAX;

Public Static Attributes

FLAG_SIGNED

constexpr uint8_t point_one::fusion_engine::messages::VehicleSpeedInput::FLAG_SIGNED = 0x1

constexpr static

Set this flag if the measured wheel speeds are signed (positive forward, negative reverse).

Otherwise, if the values are assumed to be unsigned (positive in both directions).

Definition at line 660 of file measurements.h.

660 static constexpr uint8_t FLAG_SIGNED = 0x1;

MESSAGE_TYPE

constexpr MessageType point_one::fusion_engine::messages::VehicleSpeedInput::MESSAGE_TYPE = MessageType::VEHICLE_SPEED_INPUT

constexpr static

Definition at line 652 of file measurements.h.

652 static constexpr MessageType MESSAGE_TYPE = MessageType::VEHICLE_SPEED_INPUT;

MESSAGE_VERSION

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

constexpr static

Definition at line 653 of file measurements.h.

653 static constexpr uint8_t MESSAGE_VERSION = 0;

---

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

• measurements.h

---

Generated via doxygen2docusaurus 2.0.0 by Doxygen 1.9.8.