point_one::fusion_engine::messages::WheelSpeedMeasurement Struct Reference

Detailed Description

Differential wheel speed measurement (MessageType::WHEEL_SPEED_MEASUREMENT, version 1.0).

This message may be used to convey the speed of each individual wheel on the vehicle. The number and type of wheels expected varies by vehicle. To use wheel speed data, you must first configure the device by issuing a SetConfigMessage message containing a WheelConfig payload describing the vehicle sensor configuration.

Some platforms may support an additional, optional voltage signal used to indicate direction of motion. Alternatively, when receiving CAN data from a vehicle, direction may be conveyed explicitly in a CAN message, or may be indicated based on the current transmission gear setting.

Definition at line 255 of file measurements.h.

Inheritance diagram for point_one::fusion_engine::messages::WheelSpeedMeasurement:

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

Public Attributes
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...
bool	is_signed = true
	true if the wheel speeds are signed (positive forward, negative reverse), or false if the values are unsigned (positive in both directions). 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...
MeasurementTimestamps	timestamps
	Measurement timestamps, if available. More...

Static Public Attributes
static constexpr MessageType	MESSAGE_TYPE
static constexpr uint8_t	MESSAGE_VERSION = 0

Member Data Documentation

front_left_speed_mps

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

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

Set to NAN if not available.

Definition at line 264 of file measurements.h.

front_right_speed_mps

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

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

Set to NAN if not available.

Definition at line 267 of file measurements.h.

gear

GearType point_one::fusion_engine::messages::WheelSpeedMeasurement::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 282 of file measurements.h.

is_signed

bool point_one::fusion_engine::messages::WheelSpeedMeasurement::is_signed = true

true if the wheel speeds are signed (positive forward, negative reverse), or false if the values are unsigned (positive in both directions).

Definition at line 288 of file measurements.h.

MESSAGE_TYPE

constexpr MessageType point_one::fusion_engine::messages::WheelSpeedMeasurement::MESSAGE_TYPE

staticconstexpr

Initial value:

=
      MessageType::WHEEL_SPEED_MEASUREMENT

Definition at line 256 of file measurements.h.

MESSAGE_VERSION

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

staticconstexpr

Definition at line 258 of file measurements.h.

rear_left_speed_mps

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

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

Set to NAN if not available.

Definition at line 270 of file measurements.h.

rear_right_speed_mps

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

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

Set to NAN if not available.

Definition at line 273 of file measurements.h.

timestamps

MeasurementTimestamps point_one::fusion_engine::messages::WheelSpeedMeasurement::timestamps

Measurement timestamps, if available.

See Sensor Measurement Message Definitions.

Definition at line 261 of file measurements.h.

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

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