Struct InsVsm

• Defined in File settings.hpp

Struct Documentation

struct InsVsm

Public Members

std::string ros_source

VSM source for INS.

std::vector<bool> ros_config = {false, false, false}

Whether or not to use individual elements of 3D velocity (v_x, v_y, v_z)

bool ros_variances_by_parameter = false

Whether or not to use variance defined by ROS parameter.

std::vector<double> ros_variances = {-1.0, -1.0, -1.0}

Variances of the 3D velocity (var_x, var_y, var_z)

bool use_stream_device = false

Wether to use stream device tcp.

std::string ip_server

VSM IP server id.

uint32_t ip_server_port

VSM tcp port.

bool ip_server_keep_open

Wether VSM shall be kept open om shutdown.

std::string serial_port

VSM serial port.

uint32_t serial_baud_rate

VSM serial baud rate.

bool serial_keep_open

Wether VSM shall be kept open om shutdown.