sins_pva.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 IntegSinsPva {
  optional apollo.common.Header header = 1;
 
  // The position calculated by SINS.
 
  optional apollo.common.PointLLH position = 2;
 
  // The velocity calculated by SINS.
  optional apollo.common.Point3D velocity = 3;
 
  // The attitude euler calculated by SINS.
  optional apollo.common.Point3D attitude = 4;
 
  // 9-by-9 covariance matrix of the sins pva.
  repeated double pva_covar = 5 [packed = true];
 
  optional bool init_and_alignment = 6;
}