Detailed Description

Software vehicle/wheel speed measurement configuration settings.

Warning: The WheelConfig payload is intended for use on vehicles where wheel speed or angle (tick) data is received via software, either using FusionEngine measurement messages, or from another software data source such as a vehicle CAN bus. For vehicles using a hardware wheel tick voltage signal, use HardwareTickConfig instead.

Wheel data may be differential (measurements from each individual wheel), or scalar (a single speed measurement for the vehicle body).

When using software wheel data, you must also specify VehicleDetails, which is used to describe the vehicle dimensions and make/model.

See also:

Definition at line 1000 of file configuration.h.

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

Public Attributes
AppliedSpeedType	applied_speed_type = AppliedSpeedType::REAR_WHEELS
	The type of vehicle/wheel speed measurements to be applied to the navigation solution. More...

float	steering_ratio = NAN
	Ratio between angle of the steering wheel and the angle of the wheels on the ground. More...

SteeringType	steering_type = SteeringType::UNKNOWN
	Indication of which of the vehicle's wheels are steered. More...

WheelSensorType	wheel_sensor_type = WheelSensorType::NONE
	The type of vehicle/wheel speed measurements produced by the vehicle. More...

uint32_t	wheel_tick_max_value = 0
	The maximum value (inclusive) before the wheel tick measurement will roll over. More...

float	wheel_tick_output_interval_sec = NAN
	The nominal rate at which wheel tick measurements will be provided (in seconds). More...

bool	wheel_ticks_always_increase = true
	`true` if the wheel tick measurements increase by a positive amount when driving forward or backward. More...

bool	wheel_ticks_signed = false
	`true` if the reported wheel tick measurements should be interpreted as signed integers, or `false` if they should be interpreted as unsigned integers. More...

float	wheel_ticks_to_m = NAN
	The scale factor to convert from wheel encoder ticks to distance (in meters/tick). More...

float	wheel_update_interval_sec = NAN
	The nominal rate at which wheel speed measurements will be provided (in seconds). More...

Member Data Documentation

◆ applied_speed_type

AppliedSpeedType point_one::fusion_engine::messages::WheelConfig::applied_speed_type = AppliedSpeedType::REAR_WHEELS

The type of vehicle/wheel speed measurements to be applied to the navigation solution.

Definition at line 1010 of file configuration.h.

◆ steering_ratio

float point_one::fusion_engine::messages::WheelConfig::steering_ratio = NAN

Ratio between angle of the steering wheel and the angle of the wheels on the ground.

Definition at line 1033 of file configuration.h.

◆ steering_type

SteeringType point_one::fusion_engine::messages::WheelConfig::steering_type = SteeringType::UNKNOWN

Indication of which of the vehicle's wheels are steered.

Definition at line 1013 of file configuration.h.

◆ wheel_sensor_type

WheelSensorType point_one::fusion_engine::messages::WheelConfig::wheel_sensor_type = WheelSensorType::NONE

The type of vehicle/wheel speed measurements produced by the vehicle.

Definition at line 1004 of file configuration.h.

◆ wheel_tick_max_value

uint32_t point_one::fusion_engine::messages::WheelConfig::wheel_tick_max_value = 0

The maximum value (inclusive) before the wheel tick measurement will roll over.

The rollover behavior depends on the value of wheel_ticks_signed. For example, a maximum value of 10 will work as follows:

wheel_ticks_signed == true: [-11, 10]
wheel_ticks_signed == false: [0, 10]

Signed values are assumed to be asymmetric, consistent with a typical 2's complement rollover.

Definition at line 1054 of file configuration.h.

◆ wheel_tick_output_interval_sec

float point_one::fusion_engine::messages::WheelConfig::wheel_tick_output_interval_sec = NAN

The nominal rate at which wheel tick measurements will be provided (in seconds).

Definition at line 1027 of file configuration.h.

◆ wheel_ticks_always_increase

bool point_one::fusion_engine::messages::WheelConfig::wheel_ticks_always_increase = true

true if the wheel tick measurements increase by a positive amount when driving forward or backward.

false if wheel tick measurements decrease when driving backward.

Definition at line 1070 of file configuration.h.

◆ wheel_ticks_signed

bool point_one::fusion_engine::messages::WheelConfig::wheel_ticks_signed = false

true if the reported wheel tick measurements should be interpreted as signed integers, or false if they should be interpreted as unsigned integers.

See wheel_tick_max_value for details.

Definition at line 1063 of file configuration.h.

◆ wheel_ticks_to_m

float point_one::fusion_engine::messages::WheelConfig::wheel_ticks_to_m = NAN

The scale factor to convert from wheel encoder ticks to distance (in meters/tick).

Used for WheelSensorType::TICKS and WheelSensorType::TICK_RATE.

Definition at line 1040 of file configuration.h.

◆ wheel_update_interval_sec

float point_one::fusion_engine::messages::WheelConfig::wheel_update_interval_sec = NAN

The nominal rate at which wheel speed measurements will be provided (in seconds).

Definition at line 1021 of file configuration.h.

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

src/point_one/fusion_engine/messages/configuration.h