Detailed Description

The heading angle (in degrees) with respect to true north, pointing from the primary antenna to the secondary antenna (MessageType::HEADING_MEASUREMENT, version 1.0).

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 timestamps.

Definition at line 456 of file measurements.h.

Inheritance diagram for point_one::fusion_engine::messages::HeadingMeasurement:

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

Public Attributes
float	baseline_distance_m = NAN
	The estimated distance between primary and secondary antennas (in meters). More...

uint32_t	flags = 0
	A bitmask of flags associated with the solution. More...

float	heading_true_north_deg = NAN
	The heading angle (in degrees) with respect to true north, pointing from the primary antenna to the secondary antenna. 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...

float	relative_position_enu_m [3] = {NAN, NAN, NAN}
	Position is measured with respect to the primary antenna as follows: More...

SolutionType	solution_type = SolutionType::Invalid
	The type of this position solution. More...

MeasurementTimestamps	timestamps
	Measurement timestamps, if available. More...

Static Public Attributes
static constexpr MessageType	MESSAGE_TYPE = MessageType::HEADING_MEASUREMENT

static constexpr uint8_t	MESSAGE_VERSION = 0

Member Data Documentation

◆ baseline_distance_m

float point_one::fusion_engine::messages::HeadingMeasurement::baseline_distance_m = NAN

The estimated distance between primary and secondary antennas (in meters).

Definition at line 505 of file measurements.h.

◆ flags

uint32_t point_one::fusion_engine::messages::HeadingMeasurement::flags = 0

A bitmask of flags associated with the solution.

Definition at line 469 of file measurements.h.

◆ heading_true_north_deg

float point_one::fusion_engine::messages::HeadingMeasurement::heading_true_north_deg = NAN

The heading angle (in degrees) with respect to true north, pointing from the primary antenna to the secondary antenna.

Note: Reported in the range [0, 360).

Definition at line 500 of file measurements.h.

◆ MESSAGE_TYPE

constexpr MessageType point_one::fusion_engine::messages::HeadingMeasurement::MESSAGE_TYPE = MessageType::HEADING_MEASUREMENT

staticconstexpr

Definition at line 457 of file measurements.h.

◆ MESSAGE_VERSION

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

staticconstexpr

Definition at line 458 of file measurements.h.

◆ position_std_enu_m

float point_one::fusion_engine::messages::HeadingMeasurement::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 secondary antenna is not available, these values will be NAN.

Definition at line 491 of file measurements.h.

◆ relative_position_enu_m

float point_one::fusion_engine::messages::HeadingMeasurement::relative_position_enu_m[3] = {NAN, NAN, NAN}

Position is measured with respect to the primary antenna as follows:

$\Delta r_{ENU} = C^{ENU}_{ECEF} (r_{Secondary, ECEF} - r_{Primary, ECEF})$

Note: If a differential solution to the secondary antenna is not available, these values will be NAN.

Definition at line 481 of file measurements.h.

◆ solution_type

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

The type of this position solution.

Definition at line 464 of file measurements.h.

◆ timestamps

MeasurementTimestamps point_one::fusion_engine::messages::HeadingMeasurement::timestamps

Measurement timestamps, if available.

See Sensor Measurement Message Definitions.

Definition at line 461 of file measurements.h.

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

src/point_one/fusion_engine/messages/measurements.h