point_one::fusion_engine::messages::WheelTickMeasurement Struct Reference

Detailed Description

Differential wheel encoder tick measurement (MessageType::WHEEL_TICK_MEASUREMENT, version 1.0).

This message may be used to convey a one or more wheel encoder tick counts received either by software (e.g., vehicle CAN bus), or captured in hardware from external voltage pulses. The number and type of wheels expected, and the interpretation of the tick count values, varies by vehicle. To use wheel encoder data, you ust 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 355 of file measurements.h.

Inheritance diagram for point_one::fusion_engine::messages::WheelTickMeasurement:

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

Public Attributes
uint32_t	front_left_wheel_ticks = 0
	The front left wheel ticks. More...
uint32_t	front_right_wheel_ticks = 0
	The front right wheel ticks. More...
GearType	gear = GearType::UNKNOWN
	The transmission gear currently in use, or direction of motion, if available. More...
uint32_t	rear_left_wheel_ticks = 0
	The rear left wheel ticks. More...
uint32_t	rear_right_wheel_ticks = 0
	The rear right wheel ticks. 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_wheel_ticks

uint32_t point_one::fusion_engine::messages::WheelTickMeasurement::front_left_wheel_ticks = 0

The front left wheel ticks.

The interpretation of these ticks is defined outside of this message.

Definition at line 367 of file measurements.h.

front_right_wheel_ticks

uint32_t point_one::fusion_engine::messages::WheelTickMeasurement::front_right_wheel_ticks = 0

The front right wheel ticks.

The interpretation of these ticks is defined outside of this message.

Definition at line 373 of file measurements.h.

gear

GearType point_one::fusion_engine::messages::WheelTickMeasurement::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 394 of file measurements.h.

MESSAGE_TYPE

constexpr MessageType point_one::fusion_engine::messages::WheelTickMeasurement::MESSAGE_TYPE

staticconstexpr

Initial value:

=
      MessageType::WHEEL_TICK_MEASUREMENT

Definition at line 356 of file measurements.h.

MESSAGE_VERSION

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

staticconstexpr

Definition at line 358 of file measurements.h.

rear_left_wheel_ticks

uint32_t point_one::fusion_engine::messages::WheelTickMeasurement::rear_left_wheel_ticks = 0

The rear left wheel ticks.

The interpretation of these ticks is defined outside of this message.

Definition at line 379 of file measurements.h.

rear_right_wheel_ticks

uint32_t point_one::fusion_engine::messages::WheelTickMeasurement::rear_right_wheel_ticks = 0

The rear right wheel ticks.

The interpretation of these ticks is defined outside of this message.

Definition at line 385 of file measurements.h.

timestamps

MeasurementTimestamps point_one::fusion_engine::messages::WheelTickMeasurement::timestamps

Measurement timestamps, if available.

See Sensor Measurement Message Definitions.

Definition at line 361 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