point_one::fusion_engine::messages::WheelSpeedOutput Struct Reference

Detailed Description

Differential wheel speed measurement output with calibration and corrections applied (MessageType::WHEEL_SPEED_OUTPUT, version 1.0).

This message is an output from the device that contains the speed of each individual wheel on the vehicle, after applying any estimated corrections for wheel scale factor, sign, etc.

Wheel odometry data may be received via a software input from a host machine, a vehicle CAN bus, or a hardware voltage signal (wheel ticks). The data_source field will indicate which type of data source provided the measurements to the device.

Note

When odometry is provided using hardware wheel ticks, the output rate of this message may differ from the wheel tick input rate. For high accuracy applications, FusionEngine may integrate tick counts over longer intervals to improve performance.

See also WheelSpeedInput and RawWheelSpeedOutput.

Definition at line 516 of file measurements.h.

Inheritance diagram for point_one::fusion_engine::messages::WheelSpeedOutput:

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

Public Attributes
SensorDataSource	data_source = SensorDataSource::UNKNOWN
	The source of the incoming data, if known. More...
uint8_t	flags = 0x0
	A bitmask of flags associated with the measurement data. More...
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...
Timestamp	p1_time
	The time of the measurement, in P1 time (beginning at power-on). 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...

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_OUTPUT
static constexpr uint8_t	MESSAGE_VERSION = 0

Member Data Documentation

data_source

SensorDataSource point_one::fusion_engine::messages::WheelSpeedOutput::data_source = SensorDataSource::UNKNOWN

The source of the incoming data, if known.

Definition at line 533 of file measurements.h.

FLAG_SIGNED

constexpr uint8_t point_one::fusion_engine::messages::WheelSpeedOutput::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 525 of file measurements.h.

flags

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

A bitmask of flags associated with the measurement data.

Definition at line 542 of file measurements.h.

front_left_speed_mps

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

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

Set to NAN if not available.

Definition at line 547 of file measurements.h.

front_right_speed_mps

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

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

Set to NAN if not available.

Definition at line 550 of file measurements.h.

gear

GearType point_one::fusion_engine::messages::WheelSpeedOutput::gear = GearType::UNKNOWN

The transmission gear currently in use, or direction of motion, if available.

Definition at line 539 of file measurements.h.

MESSAGE_TYPE

constexpr MessageType point_one::fusion_engine::messages::WheelSpeedOutput::MESSAGE_TYPE = MessageType::WHEEL_SPEED_OUTPUT

staticconstexpr

Definition at line 517 of file measurements.h.

MESSAGE_VERSION

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

staticconstexpr

Definition at line 518 of file measurements.h.

p1_time

Timestamp point_one::fusion_engine::messages::WheelSpeedOutput::p1_time

The time of the measurement, in P1 time (beginning at power-on).

Definition at line 528 of file measurements.h.

rear_left_speed_mps

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

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

Set to NAN if not available.

Definition at line 553 of file measurements.h.

rear_right_speed_mps

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

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

Set to NAN if not available.

Definition at line 556 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