point_one::fusion_engine::messages::WheelSpeedInput Struct Reference

Detailed Description

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

This message is an input to the device, used to convey the speed of each individual wheel on the vehicle. The number and type of wheels expected varies by vehicle. For single along-track speed measurements, see VehicleSpeedInput.

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 (speed data signed/unsigned, etc.).

Some platforms may have an additional 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.

To send wheel tick counts from software, use WheelTickInput instead.

See also WheelSpeedOutput for measurement output.

Definition at line 437 of file measurements.h.

Inheritance diagram for point_one::fusion_engine::messages::WheelSpeedInput:

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

Public Attributes
MeasurementDetails	details
	Measurement timestamp and additional information, if available. More...
uint8_t	flags = 0x0
	A bitmask of flags associated with the measurement data. More...
int32_t	front_left_speed = INT32_MAX
	The front left wheel speed (in m/s * 2^-10). More...
int32_t	front_right_speed = INT32_MAX
	The front right wheel speed (in m/s * 2^-10). More...
GearType	gear = GearType::UNKNOWN
	The transmission gear currently in use, or direction of motion, if available. More...
int32_t	rear_left_speed = INT32_MAX
	The rear left wheel speed (in m/s * 2^-10). More...
int32_t	rear_right_speed = INT32_MAX
	The rear right wheel speed (in m/s * 2^-10). More...

Static Public Attributes
static constexpr uint8_t	FLAG_SIGNED = 0x1
	Set this flag if the measured wheel speeds are signed (positive forward, negative reverse). More...
static constexpr MessageType	MESSAGE_TYPE = MessageType::WHEEL_SPEED_INPUT
static constexpr uint8_t	MESSAGE_VERSION = 0

Member Data Documentation

details

MeasurementDetails point_one::fusion_engine::messages::WheelSpeedInput::details

Measurement timestamp and additional information, if available.

See MeasurementDetails for details.

Definition at line 452 of file measurements.h.

FLAG_SIGNED

constexpr uint8_t point_one::fusion_engine::messages::WheelSpeedInput::FLAG_SIGNED = 0x1

staticconstexpr

Set this flag if the measured wheel speeds are signed (positive forward, negative reverse).

Otherwise, if the values are assumed to be unsigned (positive in both directions).

Definition at line 446 of file measurements.h.

flags

uint8_t point_one::fusion_engine::messages::WheelSpeedInput::flags = 0x0

A bitmask of flags associated with the measurement data.

Definition at line 488 of file measurements.h.

front_left_speed

int32_t point_one::fusion_engine::messages::WheelSpeedInput::front_left_speed = INT32_MAX

The front left wheel speed (in m/s * 2^-10).

Set to 0x7FFFFFFF if not available.

Definition at line 458 of file measurements.h.

front_right_speed

int32_t point_one::fusion_engine::messages::WheelSpeedInput::front_right_speed = INT32_MAX

The front right wheel speed (in m/s * 2^-10).

Set to 0x7FFFFFFF if not available.

Definition at line 464 of file measurements.h.

gear

GearType point_one::fusion_engine::messages::WheelSpeedInput::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 485 of file measurements.h.

MESSAGE_TYPE

constexpr MessageType point_one::fusion_engine::messages::WheelSpeedInput::MESSAGE_TYPE = MessageType::WHEEL_SPEED_INPUT

staticconstexpr

Definition at line 438 of file measurements.h.

MESSAGE_VERSION

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

staticconstexpr

Definition at line 439 of file measurements.h.

rear_left_speed

int32_t point_one::fusion_engine::messages::WheelSpeedInput::rear_left_speed = INT32_MAX

The rear left wheel speed (in m/s * 2^-10).

Set to 0x7FFFFFFF if not available.

Definition at line 470 of file measurements.h.

rear_right_speed

int32_t point_one::fusion_engine::messages::WheelSpeedInput::rear_right_speed = INT32_MAX

The rear right wheel speed (in m/s * 2^-10).

Set to 0x7FFFFFFF if not available.

Definition at line 476 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