mip::commands_3dm::Odometer Struct Reference

#include <commands_3dm.hpp>

Classes
struct	Response

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

Public Member Functions
auto	asTuple () const
auto	asTuple ()
void	insert (Serializer &serializer) const
	Serialization. More...
void	extract (Serializer &serializer)

Static Public Member Functions
static Odometer	create_sld_all (::mip::FunctionSelector function)

Public Attributes
FunctionSelector	function = static_cast<FunctionSelector>(0)
	Parameters. More...
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 constexpr const uint8_t	DESCRIPTOR_SET = ::mip::commands_3dm::DESCRIPTOR_SET
	Descriptors. More...
static constexpr const uint8_t	FIELD_DESCRIPTOR = ::mip::commands_3dm::CMD_ODOMETER_CONFIG
static constexpr const CompositeDescriptor	DESCRIPTOR = {DESCRIPTOR_SET, FIELD_DESCRIPTOR}
static constexpr const char *	NAME = "Odometer"
static constexpr const char *	DOC_NAME = "Odometer Settings"
static constexpr const bool	HAS_FUNCTION_SELECTOR = true

Member Enumeration Documentation

Mode

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

strong

Enumerator
DISABLED	Encoder is disabled.
QUADRATURE	Quadrature encoder mode.

Member Function Documentation

asTuple() [1/2]

auto mip::commands_3dm::Odometer::asTuple ( )

inline

asTuple() [2/2]

auto mip::commands_3dm::Odometer::asTuple ( ) const

inline

create_sld_all()

static Odometer mip::commands_3dm::Odometer::create_sld_all ( ::mip::FunctionSelector  function )

inlinestatic

extract()

void mip::commands_3dm::Odometer::extract

(

Serializer &

serializer

)

insert()

void mip::commands_3dm::Odometer::insert

(

Serializer &

serializer

)

const

Serialization.

Member Data Documentation

DESCRIPTOR

constexpr const CompositeDescriptor mip::commands_3dm::Odometer::DESCRIPTOR = {DESCRIPTOR_SET, FIELD_DESCRIPTOR}

staticconstexpr

DESCRIPTOR_SET

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

staticconstexpr

Descriptors.

DOC_NAME

constexpr const char* mip::commands_3dm::Odometer::DOC_NAME = "Odometer Settings"

staticconstexpr

FIELD_DESCRIPTOR

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

staticconstexpr

function

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

Parameters.

HAS_FUNCTION_SELECTOR

constexpr const bool mip::commands_3dm::Odometer::HAS_FUNCTION_SELECTOR = true

staticconstexpr

mode

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

Mode setting.

NAME

constexpr const char* mip::commands_3dm::Odometer::NAME = "Odometer"

staticconstexpr

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 files:

• src/cpp/mip/definitions/commands_3dm.hpp
• src/cpp/mip/definitions/commands_3dm.cpp