Platform pose solution: position, velocity, attitude (MessageType::POSE). More...

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

Public Attributes
float	aggregate_protection_level_m = NAN
	The estimated aggregate 3D protection level (in meters). More...

Timestamp	gps_time
	The GPS time of the message, if available, referenced to 1980/1/6. More...

float	horizontal_protection_level_m = NAN
	The estimated 2D horizontal protection level (in meters). More...

double	lla_deg [3] = {NAN, NAN, NAN}
	The WGS-84 geodetic latitude, longitude, and altitude (in degrees/meters). More...

Timestamp	p1_time
	The time of the message, in P1 time (beginning at power-on). More...

float	position_std_enu_m [3] = {NAN, NAN, NAN}
	The position standard deviation (in meters), resolved with respect to the local ENU tangent plane: east, north, up. More...

SolutionType	solution_type
	The type of this position solution. More...

double	velocity_body_mps [3] = {NAN, NAN, NAN}
	The platform velocity (in meters/second), resolved in the body frame. More...

float	velocity_std_body_mps [3] = {NAN, NAN, NAN}
	The velocity standard deviation (in meters/second), resolved in the body frame. More...

float	vertical_protection_level_m = NAN
	The estimated vertical protection level (in meters). More...

double	ypr_deg [3] = {NAN, NAN, NAN}
	The platform attitude (in degrees), if known, described as intrinsic Euler-321 angles (yaw, pitch, roll) with respect to the local ENU tangent plane. More...

float	ypr_std_deg [3] = {NAN, NAN, NAN}
	The attitude standard deviation (in degrees): yaw, pitch, roll. More...

Detailed Description

Platform pose solution: position, velocity, attitude (MessageType::POSE).

Note: All data is timestamped using the Point One Time, which is a monotonic timestamp referenced to the start of the device. Corresponding messages (GNSSInfoMessage, GNSSSatelliteMessage, etc.) may be associated using their p1_time values.

Definition at line 29 of file solution.h.

Member Data Documentation

◆ aggregate_protection_level_m

float point_one::fusion_engine::messages::PoseMessage::aggregate_protection_level_m = NAN

The estimated aggregate 3D protection level (in meters).

Definition at line 84 of file solution.h.

◆ gps_time

Timestamp point_one::fusion_engine::messages::PoseMessage::gps_time

The GPS time of the message, if available, referenced to 1980/1/6.

Definition at line 34 of file solution.h.

◆ horizontal_protection_level_m

float point_one::fusion_engine::messages::PoseMessage::horizontal_protection_level_m = NAN

The estimated 2D horizontal protection level (in meters).

Definition at line 86 of file solution.h.

◆ lla_deg

double point_one::fusion_engine::messages::PoseMessage::lla_deg[3] = {NAN, NAN, NAN}

The WGS-84 geodetic latitude, longitude, and altitude (in degrees/meters).

Definition at line 44 of file solution.h.

◆ p1_time

Timestamp point_one::fusion_engine::messages::PoseMessage::p1_time

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

Definition at line 31 of file solution.h.

◆ position_std_enu_m

float point_one::fusion_engine::messages::PoseMessage::position_std_enu_m[3] = {NAN, NAN, NAN}

The position standard deviation (in meters), resolved with respect to the local ENU tangent plane: east, north, up.

Definition at line 50 of file solution.h.

◆ solution_type

SolutionType point_one::fusion_engine::messages::PoseMessage::solution_type

The type of this position solution.

Definition at line 37 of file solution.h.

◆ velocity_body_mps

double point_one::fusion_engine::messages::PoseMessage::velocity_body_mps[3] = {NAN, NAN, NAN}

The platform velocity (in meters/second), resolved in the body frame.

Set to NAN if attitude is not available for the body frame transformation.

Definition at line 75 of file solution.h.

◆ velocity_std_body_mps

float point_one::fusion_engine::messages::PoseMessage::velocity_std_body_mps[3] = {NAN, NAN, NAN}

The velocity standard deviation (in meters/second), resolved in the body frame.

Definition at line 81 of file solution.h.

◆ vertical_protection_level_m

float point_one::fusion_engine::messages::PoseMessage::vertical_protection_level_m = NAN

The estimated vertical protection level (in meters).

Definition at line 88 of file solution.h.

◆ ypr_deg

double point_one::fusion_engine::messages::PoseMessage::ypr_deg[3] = {NAN, NAN, NAN}

The platform attitude (in degrees), if known, described as intrinsic Euler-321 angles (yaw, pitch, roll) with respect to the local ENU tangent plane.

Set to NAN if attitude is not available.

Note: The platform body axes are defined as +x forward, +y left, and +z up. A positive yaw is a left turn, positive pitch points the nose of the vehicle down, and positive roll is a roll toward the right. Yaw is measured from east in a counter-clockwise direction. For example, north is +90 degrees (i.e., heading = 90.0 - ypr_deg[0]).

Definition at line 64 of file solution.h.

◆ ypr_std_deg

float point_one::fusion_engine::messages::PoseMessage::ypr_std_deg[3] = {NAN, NAN, NAN}

The attitude standard deviation (in degrees): yaw, pitch, roll.

Definition at line 69 of file solution.h.

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

src/point_one/fusion_engine/messages/solution.h

Public Attributes