TrailerData
This is a ROS message definition.
Source
# ==============================================================================
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# Copyright (c) 2023-2024 Institute for Automotive Engineering (ika), RWTH Aachen University
# Copyright (c) 2024 Instituto de Telecomunicações, Universidade de Aveiro
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# ==============================================================================
# --- Auto-generated by asn1ToRosMsg.py ----------------------------------------
# --- ASN.1 Definition ---------------------------------------------------------
# TrailerData ::= SEQUENCE {
# refPointId Identifier1B,
# hitchPointOffset StandardLength1B,
# frontOverhang StandardLength1B OPTIONAL,
# rearOverhang StandardLength1B OPTIONAL,
# trailerWidth VehicleWidth OPTIONAL,
# hitchAngle CartesianAngle,
# ...
# }
# ------------------------------------------------------------------------------
# *
# * This DF provides detailed information about an attached trailer.
# *
# * It shall include the following components:
# *
# * @field refPointId: identifier of the reference point of the trailer.
# *
# * @field hitchPointOffset: optional position of the hitch point in negative x-direction (according to ISO 8855) from the
# * vehicle Reference Point.
# *
# * @field frontOverhang: optional length of the trailer overhang in the positive x direction (according to ISO 8855) from the
# * trailer Reference Point indicated by the refPointID. The value defaults to 0 in case the trailer
# * is not overhanging to the front with respect to the trailer reference point.
# *
# * @field rearOverhang: optional length of the trailer overhang in the negative x direction (according to ISO 8855) from the
# * trailer Reference Point indicated by the refPointID.
# *
# * @field trailerWidth: optional width of the trailer.
# *
# * @field hitchAngle: optional Value and confidence value of the angle between the trailer orientation (corresponding to the x
# * direction of the ISO 8855 [21] coordinate system centered on the trailer) and the direction of
# * the segment having as end points the reference point of the trailer and the reference point of
# * the pulling vehicle, which can be another trailer or a vehicle looking on the horizontal plane
# * xy, described in the local Cartesian coordinate system of the trailer. The
# * angle is measured with negative values considering the trailer orientation turning clockwise
# * starting from the segment direction. The angle value accuracy is provided with the
# * confidence level of 95 %.
# *
# * @category: Vehicle information
# * @revision: Created in V2.1.1
#
Identifier1B ref_point_id
StandardLength1B hitch_point_offset
StandardLength1B front_overhang
bool front_overhang_is_present
StandardLength1B rear_overhang
bool rear_overhang_is_present
VehicleWidth trailer_width
bool trailer_width_is_present
CartesianAngle hitch_angle