point_one::fusion_engine::messages::WheelTickInput Struct Reference

Detailed Description

Differential wheel encoder tick input (MessageType::WHEEL_TICK_INPUT, version 1.0).

This message is an input to the device, used to convey the wheel encoder tick counts for one or more wheels, received through 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 must first configure the device by issuing a SetConfigMessage message containing a WheelConfig payload describing the vehicle sensor configuration (tick counts signed/unsigned, etc.).

Some platforms may have an additional voltage signal used to indicate direction of motion, have direction or gear information available from a vehicle CAN bus, etc. If direction/gear information is available, it may be provided in the gear field.

See also RawWheelTickOutput for measurement output.

Definition at line 829 of file measurements.h.

Inheritance diagram for point_one::fusion_engine::messages::WheelTickInput:

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

Public Attributes
MeasurementDetails	details
	Measurement timestamp and additional information, if available. More...
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...

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

Member Data Documentation

details

MeasurementDetails point_one::fusion_engine::messages::WheelTickInput::details

Measurement timestamp and additional information, if available.

See MeasurementDetails for details.

Definition at line 837 of file measurements.h.

front_left_wheel_ticks

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

The front left wheel ticks.

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

Definition at line 843 of file measurements.h.

front_right_wheel_ticks

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

The front right wheel ticks.

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

Definition at line 849 of file measurements.h.

gear

GearType point_one::fusion_engine::messages::WheelTickInput::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 870 of file measurements.h.

MESSAGE_TYPE

constexpr MessageType point_one::fusion_engine::messages::WheelTickInput::MESSAGE_TYPE = MessageType::WHEEL_TICK_INPUT

staticconstexpr

Definition at line 830 of file measurements.h.

MESSAGE_VERSION

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

staticconstexpr

Definition at line 831 of file measurements.h.

rear_left_wheel_ticks

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

The rear left wheel ticks.

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

Definition at line 855 of file measurements.h.

rear_right_wheel_ticks

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

The rear right wheel ticks.

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

Definition at line 861 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