measure.proto

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syntax = "proto2";
 
package apollo.localization;
 
import "modules/common_msgs/basic_msgs/header.proto";
import "modules/common_msgs/basic_msgs/geometry.proto";
 
message IntegMeasure {
  optional apollo.common.Header header = 1;
 
  enum MeasureType {
    // the measure data only include gnss position
    GNSS_POS_ONLY = 0;
    // the measure data include gnss position and velocity
    GNSS_POS_VEL = 1;
    // the measure data include gnss position
    GNSS_POS_XY = 2;
    // the measure data only include gnss velocity
    GNSS_VEL_ONLY = 3;
    // the measure data only include point cloud position
    POINT_CLOUD_POS = 4;
    // the measure data only include odometer velocity
    ODOMETER_VEL_ONLY = 5;
    // trigger measure update using vehicle constraint
    VEHICLE_CONSTRAINT = 6;
  }
 
  optional MeasureType measure_type = 2;
 
  enum FrameType {
    // Position give the longitude and latitude unit:rad.
    ENU = 0;
    // Position give x y and z from earth center.
    ECEF = 1;
    // Position give x y and z in utm frame.
    UTM = 2;
    ODOMETER = 3;
  }
  optional FrameType frame_type = 3;
 
  // Position measurement from GNSS or Lidar.
  optional apollo.common.Point3D position = 4;
 
  // Velocity measurement from GNSS or odometer.
  optional apollo.common.Point3D velocity = 5;
 
  optional double yaw = 6;
 
  // Utm zone id.
  optional int32 zone_id = 7;
 
  // Whether the measurement contains variance.
  optional bool is_have_variance = 8;
 
  // Whether use double antenna gnss to get yaw measurement.
  optional bool is_gnss_double_antenna = 9;
 
  // Covariance matrix of measurement.
  repeated double measure_covar = 10 [packed = true];
}