WheelSpeedOutput Struct

Differential wheel speed measurement output with calibration and corrections applied (MessageType::WHEEL_SPEED_OUTPUT, version 1). More...

Declaration

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

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

SensorDataSource	data_source = SensorDataSource::UNKNOWN
	The source of the incoming data, if known. More...
uint8_t	flags = 0x0
	A bitmask of flags associated with the measurement data. More...
float	front_left_speed_mps = NAN
	The front left wheel speed (in m/s). More...
float	front_right_speed_mps = NAN
	The front right wheel speed (in m/s). More...
GearType	gear = GearType::UNKNOWN
	The transmission gear currently in use, or direction of motion, if available. More...
Timestamp	p1_time
	The time of the measurement, in P1 time (beginning at power-on). More...
float	rear_left_speed_mps = NAN
	The rear left wheel speed (in m/s). More...
float	rear_right_speed_mps = NAN
	The rear right wheel speed (in m/s). 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::WHEEL_SPEED_OUTPUT
static constexpr uint8_t	MESSAGE_VERSION = 0

Description

Differential wheel speed measurement output with calibration and corrections applied (MessageType::WHEEL_SPEED_OUTPUT, version 1).

This message is an output from the device that contains the speed of each individual wheel on the vehicle, after applying any estimated corrections for wheel scale factor, sign, etc.

Wheel odometry data may be received via a software input from a host machine, a vehicle CAN bus, or a hardware voltage signal (wheel ticks). The data_source field will indicate which type of data source provided the measurements to the device.

info

When odometry is provided using hardware wheel ticks, the output rate of this message may differ from the wheel tick input rate. For high accuracy applications, FusionEngine may integrate tick counts over longer intervals to improve performance.

See also WheelSpeedInput and RawWheelSpeedOutput.

Definition at line 513 of file measurements.h.

Public Member Attributes

data_source

SensorDataSource point_one::fusion_engine::messages::WheelSpeedOutput::data_source = SensorDataSource::UNKNOWN

The source of the incoming data, if known.

Definition at line 530 of file measurements.h.

530 SensorDataSource data_source = SensorDataSource::UNKNOWN;

flags

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

A bitmask of flags associated with the measurement data.

Definition at line 539 of file measurements.h.

539 uint8_t flags = 0x0;

front_left_speed_mps

float point_one::fusion_engine::messages::WheelSpeedOutput::front_left_speed_mps = NAN

The front left wheel speed (in m/s).

Set to NAN if not available.

Definition at line 544 of file measurements.h.

544 float front_left_speed_mps = NAN;

front_right_speed_mps

float point_one::fusion_engine::messages::WheelSpeedOutput::front_right_speed_mps = NAN

The front right wheel speed (in m/s).

Set to NAN if not available.

Definition at line 547 of file measurements.h.

547 float front_right_speed_mps = NAN;

gear

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

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

Definition at line 536 of file measurements.h.

536 GearType gear = GearType::UNKNOWN;

p1_time

Timestamp point_one::fusion_engine::messages::WheelSpeedOutput::p1_time

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

Definition at line 525 of file measurements.h.

525 Timestamp p1_time;

rear_left_speed_mps

float point_one::fusion_engine::messages::WheelSpeedOutput::rear_left_speed_mps = NAN

The rear left wheel speed (in m/s).

Set to NAN if not available.

Definition at line 550 of file measurements.h.

550 float rear_left_speed_mps = NAN;

rear_right_speed_mps

float point_one::fusion_engine::messages::WheelSpeedOutput::rear_right_speed_mps = NAN

The rear right wheel speed (in m/s).

Set to NAN if not available.

Definition at line 553 of file measurements.h.

553 float rear_right_speed_mps = NAN;

Public Static Attributes

FLAG_SIGNED

constexpr uint8_t point_one::fusion_engine::messages::WheelSpeedOutput::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 522 of file measurements.h.

522 static constexpr uint8_t FLAG_SIGNED = 0x1;

MESSAGE_TYPE

constexpr MessageType point_one::fusion_engine::messages::WheelSpeedOutput::MESSAGE_TYPE = MessageType::WHEEL_SPEED_OUTPUT

constexpr static

Definition at line 514 of file measurements.h.

514 static constexpr MessageType MESSAGE_TYPE = MessageType::WHEEL_SPEED_OUTPUT;

MESSAGE_VERSION

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

constexpr static

Definition at line 515 of file measurements.h.

515 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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