FP_A-ODOM... (version 1) messages payload. More...

#include <fpa.hpp>

Inheritance diagram for fpsdk::common::parser::fpa::FpaOdomPayload:

Collaboration diagram for fpsdk::common::parser::fpa::FpaOdomPayload:

Public Types
enum class	Which { UNSPECIFIED , ODOMETRY , ODOMENU , ODOMSH }
	Data from which FP_A-...IMU is stored. More...

Public Member Functions
virtual bool	SetFromMsg (const uint8_t *msg, const std::size_t msg_size)=0
	Set data from message.
Public Member Functions inherited from fpsdk::common::parser::fpa::FpaPayload
virtual	~FpaPayload ()=default
	Virtual dtor for polymorphism.
bool	SetFromBuf (const std::vector< uint8_t > &buf)
	Set data from message.

Public Attributes
Which	which = Which::UNSPECIFIED
	Indicates from which message the data is.
FpaGpsTime	gps_time
	Time.
FpaFloat3	pos
	Position, X/Y/Z components.
FpaFloat4	orientation
	Quaternion, W/X/Y/Z components.
FpaFloat3	vel
	Velocity, X/Y/Z components.
FpaFloat3	rot
	Bias corrected angular velocity, X/Y/Z components.
FpaFloat3	acc
	Bias corrected acceleration, X/Y/Z components.
FpaFusionStatusLegacy	fusion_status
	Fustion status.
FpaImuStatusLegacy	imu_bias_status
	IMU bias status.
FpaGnssFix	gnss1_fix
	Fix status of GNSS1 receiver.
FpaGnssFix	gnss2_fix
	Fix status of GNSS2 receiver.
FpaWsStatusLegacy	wheelspeed_status
	Wheelspeed status.
FpaFloat6	pos_cov
	Position covariance, XX/YY/ZZ/XY/YZ/XZ components.
FpaFloat6	orientation_cov
	Orientation covariance, XX/YY/ZZ/XY/YZ/XZ components.
FpaFloat6	vel_cov
	Velocity covariance, XX/YY/ZZ/XY/YZ/XZ components.
char	version [100] = { 0 }
	Software version string.
Public Attributes inherited from fpsdk::common::parser::fpa::FpaPayload
bool	valid_ = false
	Payload successfully decoded (true), or not (yet) decoded (false)
FpaMessageType	msg_type_ = FpaMessageType::UNSPECIFIED
	Message (payload) type.

Detailed Description

FP_A-ODOM... (version 1) messages payload.

Definition at line 732 of file fpa.hpp.

Member Enumeration Documentation

◆ Which

enum class fpsdk::common::parser::fpa::FpaOdomPayload::Which

strong

Data from which FP_A-...IMU is stored.

Enumerator
UNSPECIFIED	Unspecified.
ODOMETRY	Data is from FP_A-ODOMETRY.
ODOMENU	Data is from FP_A-ODOMENU.
ODOMSH	Data is from FP_A-ODOMSH.

Definition at line 735 of file fpa.hpp.

Member Function Documentation

◆ SetFromMsg()

virtual bool fpsdk::common::parser::fpa::FpaOdomPayload::SetFromMsg	(	const uint8_t *	msg,
		const std::size_t	msg_size )

pure virtual

Set data from message.

Parameters

[in]	msg	Pointer to the FP_A message
[in]	msg_size	Size of the FP_A message (>= 11)

Returns: true if message payload was correct and all data could be extracted (fields are now valid), or false otherwise (fields are now invalid)

Implements fpsdk::common::parser::fpa::FpaPayload.

Implemented in fpsdk::common::parser::fpa::FpaOdomenuPayload, fpsdk::common::parser::fpa::FpaOdometryPayload, and fpsdk::common::parser::fpa::FpaOdomshPayload.

Member Data Documentation

◆ which

Which fpsdk::common::parser::fpa::FpaOdomPayload::which = Which::UNSPECIFIED

Indicates from which message the data is.

Definition at line 743 of file fpa.hpp.

◆ gps_time

FpaGpsTime fpsdk::common::parser::fpa::FpaOdomPayload::gps_time

Time.

Definition at line 744 of file fpa.hpp.

◆ pos

FpaFloat3 fpsdk::common::parser::fpa::FpaOdomPayload::pos

Position, X/Y/Z components.

Definition at line 745 of file fpa.hpp.

◆ orientation

FpaFloat4 fpsdk::common::parser::fpa::FpaOdomPayload::orientation

Quaternion, W/X/Y/Z components.

Definition at line 746 of file fpa.hpp.

◆ vel

FpaFloat3 fpsdk::common::parser::fpa::FpaOdomPayload::vel

Velocity, X/Y/Z components.

Definition at line 747 of file fpa.hpp.

◆ rot

FpaFloat3 fpsdk::common::parser::fpa::FpaOdomPayload::rot

Bias corrected angular velocity, X/Y/Z components.

Definition at line 748 of file fpa.hpp.

◆ acc

FpaFloat3 fpsdk::common::parser::fpa::FpaOdomPayload::acc

Bias corrected acceleration, X/Y/Z components.

Definition at line 749 of file fpa.hpp.

◆ fusion_status

FpaFusionStatusLegacy fpsdk::common::parser::fpa::FpaOdomPayload::fusion_status

Fustion status.

Definition at line 750 of file fpa.hpp.

◆ imu_bias_status

FpaImuStatusLegacy fpsdk::common::parser::fpa::FpaOdomPayload::imu_bias_status

IMU bias status.

Definition at line 751 of file fpa.hpp.

◆ gnss1_fix

FpaGnssFix fpsdk::common::parser::fpa::FpaOdomPayload::gnss1_fix

Fix status of GNSS1 receiver.

Definition at line 752 of file fpa.hpp.

◆ gnss2_fix

FpaGnssFix fpsdk::common::parser::fpa::FpaOdomPayload::gnss2_fix

Fix status of GNSS2 receiver.

Definition at line 753 of file fpa.hpp.

◆ wheelspeed_status

FpaWsStatusLegacy fpsdk::common::parser::fpa::FpaOdomPayload::wheelspeed_status

Wheelspeed status.

Definition at line 754 of file fpa.hpp.

◆ pos_cov

FpaFloat6 fpsdk::common::parser::fpa::FpaOdomPayload::pos_cov

Position covariance, XX/YY/ZZ/XY/YZ/XZ components.

Definition at line 755 of file fpa.hpp.

◆ orientation_cov

FpaFloat6 fpsdk::common::parser::fpa::FpaOdomPayload::orientation_cov

Orientation covariance, XX/YY/ZZ/XY/YZ/XZ components.

Definition at line 756 of file fpa.hpp.

◆ vel_cov

FpaFloat6 fpsdk::common::parser::fpa::FpaOdomPayload::vel_cov

Velocity covariance, XX/YY/ZZ/XY/YZ/XZ components.

Definition at line 757 of file fpa.hpp.

◆ version

char fpsdk::common::parser::fpa::FpaOdomPayload::version[100] = { 0 }

Software version string.

Definition at line 758 of file fpa.hpp.

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

fpsdk_common/include/fpsdk_common/parser/fpa.hpp

Public Types

Public Member Functions

Public Attributes