mip::C::mip_3dm_odometer_response Struct Reference

#include <commands_3dm.h>

Public Attributes
mip_3dm_odometer_command_mode	mode
	Mode setting. More...
float	scaling
	Encoder pulses per meter of distance traveled [pulses/m]. Distance traveled is computed using the formula d = p / N * 2R * pi, where d is distance, p is the number of pulses received, N is the encoder resolution, and R is the wheel radius. By simplifying all of the parameters into one, the formula d = p / S is obtained, where s is the odometer scaling factor passed to this command. S is equivalent to N / (2R * pi) and has units of pulses / meter. N is in units of "A" pulses per revolution and R is in meters. Make this value negative if the odometer is mounted so that it rotates backwards. More...
float	uncertainty
	Uncertainty in encoder counts to distance translation (1-sigma value) [m/m]. More...

Member Data Documentation

mode

mip_3dm_odometer_command_mode mip::C::mip_3dm_odometer_response::mode

Mode setting.

scaling

float mip::C::mip_3dm_odometer_response::scaling

Encoder pulses per meter of distance traveled [pulses/m]. Distance traveled is computed using the formula d = p / N * 2R * pi, where d is distance, p is the number of pulses received, N is the encoder resolution, and R is the wheel radius. By simplifying all of the parameters into one, the formula d = p / S is obtained, where s is the odometer scaling factor passed to this command. S is equivalent to N / (2R * pi) and has units of pulses / meter. N is in units of "A" pulses per revolution and R is in meters. Make this value negative if the odometer is mounted so that it rotates backwards.

uncertainty

float mip::C::mip_3dm_odometer_response::uncertainty

Uncertainty in encoder counts to distance translation (1-sigma value) [m/m].

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The documentation for this struct was generated from the following file:

• src/c/mip/definitions/commands_3dm.h