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[Help] Motion Data

Author: tashnus 2017-7-27 15:32
0 64
Last edited by tashnus In 2017-8-1 15:32 Editor

What is motion data based on? How are the individual variables below measured? Has the guidance combined all sensor inputs (stereo camera, ultrasonic) in all five directions to provide position and velocity? Has it been combined with IMU?
typedef struct _motion
{
    unsigned int     frame_index;
    unsigned int     time_stamp;

    int              corresponding_imu_index;

    float            q0;
    float            q1;
    float            q2;
    float            q3;
    int              attitude_status;  // 0:invalid; 1:valid

    float            position_in_global_x;  // position in global frame: x
    float            position_in_global_y;  // position in global frame: y
    float            position_in_global_z;  // position in global frame: z
    int              position_status; // lower 3 bits are confidence. 0:invalid; 1:valid

    float            velocity_in_global_x;  // velocity in global frame: x
    float            velocity_in_global_y;  // velocity in global frame: y
    float            velocity_in_global_z;  // velocity in global frame: z
    int              velocity_status; // lower 3 bits are confidence. 0:invalid; 1:valid

    float            reserve_float[8];
    int              reserve_int[4];

    float            uncertainty_location[3];// uncertainty of position
    float            uncertainty_velocity[3];// uncertainty of velocity
} motion;

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