Apollo 10.0
自动驾驶开放平台
localization.proto
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16
17syntax = "proto2";
18
19package apollo.localization;
20
26
27message Uncertainty {
28 // Standard deviation of position, east/north/up in meters.
29 optional apollo.common.Point3D position_std_dev = 1;
30
31 // Standard deviation of quaternion qx/qy/qz, unitless.
32 optional apollo.common.Point3D orientation_std_dev = 2;
33
34 // Standard deviation of linear velocity, east/north/up in meters per second.
35 optional apollo.common.Point3D linear_velocity_std_dev = 3;
36
37 // Standard deviation of linear acceleration, right/forward/up in meters per
38 // square second.
39 optional apollo.common.Point3D linear_acceleration_std_dev = 4;
40
41 // Standard deviation of angular velocity, right/forward/up in radians per
42 // second.
43 optional apollo.common.Point3D angular_velocity_std_dev = 5;
44
45 // TODO: Define covariance items when needed.
46}
47
49 optional apollo.common.Header header = 1;
50 optional apollo.localization.Pose pose = 2;
51 optional Uncertainty uncertainty = 3;
52
53 // The time of pose measurement, seconds since 1970-1-1 (UNIX time).
54 optional double measurement_time = 4; // In seconds.
55
56 // Future trajectory actually driven by the drivers
57 repeated apollo.common.TrajectoryPoint trajectory_point = 5;
58
59 // msf status
60 optional MsfStatus msf_status = 6;
61 // msf quality
62 optional MsfSensorMsgStatus sensor_status = 7;
63}
64
72
74 optional apollo.common.Header header = 1;
75 optional MeasureState fusion_status = 2;
76 optional MeasureState gnss_status = 3 [deprecated = true];
77 optional MeasureState lidar_status = 4 [deprecated = true];
78 // The time of pose measurement, seconds since 1970-1-1 (UNIX time).
79 optional double measurement_time = 5; // In seconds.
80 optional string state_message = 6;
81}
apollo::common
apollo::localization
Definition gps.proto:3
class register implement
Definition arena_queue.h:37