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.proto 第 16 行定义.

成员枚举类型说明

Type

enum apollo::drivers::gnss::Ins::Type

枚举值
INVALID
CONVERGING
GOOD

在文件 ins.proto 第 23 行定义.

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

类成员变量说明

angular_velocity

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

在文件 ins.proto 第 48 行定义.

angular_velocity_covariance

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

在文件 ins.proto 第 67 行定义.

euler_angles

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

在文件 ins.proto 第 44 行定义.

euler_angles_covariance

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

在文件 ins.proto 第 61 行定义.

header

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

在文件 ins.proto 第 17 行定义.

linear_acceleration

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

在文件 ins.proto 第 50 行定义.

linear_acceleration_covariance

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

在文件 ins.proto 第 70 行定义.

linear_velocity

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

在文件 ins.proto 第 46 行定义.

linear_velocity_covariance

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

在文件 ins.proto 第 64 行定义.

measurement_time

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

在文件 ins.proto 第 20 行定义.

position

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

在文件 ins.proto 第 38 行定义.

position_covariance

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

在文件 ins.proto 第 58 行定义.

type

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

在文件 ins.proto 第 35 行定义.

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该结构体的文档由以下文件生成:

• modules/common_msgs/sensor_msgs/ins.proto