Apollo 10.0
自动驾驶开放平台
apollo::drivers::gnss::Ins结构体 参考
apollo::drivers::gnss::Ins 的协作图:

Public 类型

enum  Type { INVALID = 0 , CONVERGING = 1 , GOOD = 2 }
 

Public 属性

optional apollo::common::Header header = 1
 
optional double measurement_time = 2
 
optional Type type = 3
 
optional apollo::common::PointLLH position = 4
 
optional apollo::common::Point3D euler_angles = 5
 
optional apollo::common::Point3D linear_velocity = 6
 
optional apollo::common::Point3D angular_velocity = 7
 
optional apollo::common::Point3D linear_acceleration = 8
 
repeated float position_covariance = 9 [packed = true]
 
repeated float euler_angles_covariance = 10 [packed = true]
 
repeated float linear_velocity_covariance = 11 [packed = true]
 
repeated float angular_velocity_covariance = 12 [packed = true]
 
repeated float linear_acceleration_covariance = 13 [packed = true]
 

详细描述

在文件 ins.proto16 行定义.

成员枚举类型说明

◆ Type

枚举值
INVALID 
CONVERGING 
GOOD 

在文件 ins.proto23 行定义.

23 {
24 // Do NOT use.
25 // Invalid solution due to insufficient observations, no initial GNSS, ...
26 INVALID = 0;
27
28 // Use with caution. The covariance matrix may be unavailable or incorrect.
29 // High-variance result due to aligning, insufficient vehicle dynamics, ...
30 CONVERGING = 1;
31
32 // Safe to use. The INS has fully converged.
33 GOOD = 2;
34 }

类成员变量说明

◆ angular_velocity

optional apollo::common::Point3D apollo::drivers::gnss::Ins::angular_velocity = 7

在文件 ins.proto48 行定义.

◆ angular_velocity_covariance

repeated float apollo::drivers::gnss::Ins::angular_velocity_covariance = 12 [packed = true]

在文件 ins.proto67 行定义.

◆ euler_angles

optional apollo::common::Point3D apollo::drivers::gnss::Ins::euler_angles = 5

在文件 ins.proto44 行定义.

◆ euler_angles_covariance

repeated float apollo::drivers::gnss::Ins::euler_angles_covariance = 10 [packed = true]

在文件 ins.proto61 行定义.

◆ header

optional apollo::common::Header apollo::drivers::gnss::Ins::header = 1

在文件 ins.proto17 行定义.

◆ linear_acceleration

optional apollo::common::Point3D apollo::drivers::gnss::Ins::linear_acceleration = 8

在文件 ins.proto50 行定义.

◆ linear_acceleration_covariance

repeated float apollo::drivers::gnss::Ins::linear_acceleration_covariance = 13 [packed = true]

在文件 ins.proto70 行定义.

◆ linear_velocity

optional apollo::common::Point3D apollo::drivers::gnss::Ins::linear_velocity = 6

在文件 ins.proto46 行定义.

◆ linear_velocity_covariance

repeated float apollo::drivers::gnss::Ins::linear_velocity_covariance = 11 [packed = true]

在文件 ins.proto64 行定义.

◆ measurement_time

optional double apollo::drivers::gnss::Ins::measurement_time = 2

在文件 ins.proto20 行定义.

◆ position

optional apollo::common::PointLLH apollo::drivers::gnss::Ins::position = 4

在文件 ins.proto38 行定义.

◆ position_covariance

repeated float apollo::drivers::gnss::Ins::position_covariance = 9 [packed = true]

在文件 ins.proto58 行定义.

◆ type

optional Type apollo::drivers::gnss::Ins::type = 3

在文件 ins.proto35 行定义.


该结构体的文档由以下文件生成: