mip::commands_3dm::Odometer Struct Reference

#include <commands_3dm.hpp>

Classes
struct	Response

Public Types
enum class	Mode : uint8_t { DISABLED = 0 , QUADRATURE = 2 }

Public Attributes
FunctionSelector	function = static_cast<FunctionSelector>(0)
Mode	mode = static_cast<Mode>(0)
	Mode setting. More...
float	scaling = 0
	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 = 0
	Uncertainty in encoder counts to distance translation (1-sigma value) [m/m]. More...

Static Public Attributes
static const uint8_t	DESCRIPTOR_SET = ::mip::commands_3dm::DESCRIPTOR_SET
static const uint8_t	FIELD_DESCRIPTOR = ::mip::commands_3dm::CMD_ODOMETER_CONFIG
static const bool	HAS_WRITE_FUNCTION = true
static const bool	HAS_READ_FUNCTION = true
static const bool	HAS_SAVE_FUNCTION = true
static const bool	HAS_LOAD_FUNCTION = true
static const bool	HAS_RESET_FUNCTION = true

Member Enumeration Documentation

Mode

enum mip::commands_3dm::Odometer::Mode : uint8_t

strong

Enumerator
DISABLED	Encoder is disabled.
QUADRATURE	Quadrature encoder mode.

Member Data Documentation

DESCRIPTOR_SET

const uint8_t mip::commands_3dm::Odometer::DESCRIPTOR_SET = ::mip::commands_3dm::DESCRIPTOR_SET

static

FIELD_DESCRIPTOR

const uint8_t mip::commands_3dm::Odometer::FIELD_DESCRIPTOR = ::mip::commands_3dm::CMD_ODOMETER_CONFIG

static

function

FunctionSelector mip::commands_3dm::Odometer::function = static_cast<FunctionSelector>(0)

HAS_LOAD_FUNCTION

const bool mip::commands_3dm::Odometer::HAS_LOAD_FUNCTION = true

static

HAS_READ_FUNCTION

const bool mip::commands_3dm::Odometer::HAS_READ_FUNCTION = true

static

HAS_RESET_FUNCTION

const bool mip::commands_3dm::Odometer::HAS_RESET_FUNCTION = true

static

HAS_SAVE_FUNCTION

const bool mip::commands_3dm::Odometer::HAS_SAVE_FUNCTION = true

static

HAS_WRITE_FUNCTION

const bool mip::commands_3dm::Odometer::HAS_WRITE_FUNCTION = true

static

mode

Mode mip::commands_3dm::Odometer::mode = static_cast<Mode>(0)

Mode setting.

scaling

float mip::commands_3dm::Odometer::scaling = 0

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::commands_3dm::Odometer::uncertainty = 0

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/mip/definitions/commands_3dm.hpp