point_one::fusion_engine::messages::RelativeENUPositionMessage Struct Reference

Relative ENU position to base station (MessageType::RELATIVE_ENU_POSITION, version 1). More...

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

Inheritance diagram for point_one::fusion_engine::messages::RelativeENUPositionMessage:

Public Attributes
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...

Static Public Attributes
static constexpr uint32_t	INVALID_REFERENCE_STATION = 0xFFFFFFFF
static constexpr MessageType	MESSAGE_TYPE
static constexpr uint8_t	MESSAGE_VERSION = 1

Detailed Description

Relative ENU position to base station (MessageType::RELATIVE_ENU_POSITION, version 1).

Note

All data is timestamped using the Point One Time, which is a monotonic timestamp referenced to the start of the device. Corresponding messages (PoseMessage, GNSSSatelliteMessage, etc.) may be associated using their p1_time values.

Definition at line 464 of file solution.h.

Member Data Documentation

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 475 of file solution.h.

INVALID_REFERENCE_STATION

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

staticconstexpr

Definition at line 469 of file solution.h.

MESSAGE_TYPE

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

staticconstexpr

Initial value:

=
      MessageType::RELATIVE_ENU_POSITION

Definition at line 465 of file solution.h.

MESSAGE_VERSION

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

staticconstexpr

Definition at line 467 of file solution.h.

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 472 of file solution.h.

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.

Note

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

Definition at line 502 of file solution.h.

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 483 of file solution.h.

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.

Note

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

Definition at line 492 of file solution.h.

solution_type

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

The type of this position solution.

Definition at line 478 of file solution.h.

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

• src/point_one/fusion_engine/messages/solution.h