Struct Misalignment

• Defined in File pdu_definitions.hpp

Struct Documentation

struct Misalignment

Misalignment Packet.

Note

Misalignment Packet signals will send the valid value when the below pre-conditions are satisfied: Ego Vehicle is received by the Sensor Sensor Detects at-least 8 to 10 Moving locations (preferably more locations) Sensor Detects at-least 8 to 10 Stationary locations (preferably more locations)

Public Functions

void betoh()

Convert content from big endian to host byte order (for each member)

void check()

Check signals in struct for range and replace with SNA if out of range.

Public Members

float LocAtr_ThetaMalAng

Estimated Misalignment angle in Azimuth (Spherical Coordinates)

Note

Unit: rad

float LocAtr_ThetaMalAngVar

Variance of Estimated Misalignment angle in Azimuth (Spherical Coordinates)

Note

Unit: rad^2

float LocAtr_PhiMalAng

Estimated Misalignment angle in Elevation (Spherical Coordinates)

Note

Unit: rad

float LocAtr_PhiMalAngVar

Variance of Estimated Misalignment angle in Elevation (Spherical Coordinates)

Note

Unit: rad^2

float LocAtr_PhiMalAngEme

Estimated Misalignment angle in Elevation (EME) (Spherical Coordinates)

Note

Unit: rad

float LocAtr_PhiMalAngEmeVar

Variance of Estimated Misalignment angle in Elevation (EME) (Spherical Coordinates)

Note

Unit: rad^2

uint16_t LocAtr_MalStatus

Status of Estimation.

uint16_t LocAtr_MalStatusEme

Status of EME based Estimation.

float LocAtr_PercNegativeTheta

Percentage of standing locations selected by MAL on one side of the radar axis (<0° in Azimuth)

Note

Unit: %

float LocAtr_MinThetaMalSOs

Minimal Theta angle of selected SOs used by doppler MAL algorithm.

Note

Unit: rad

float LocAtr_MaxThetaMalSOs

Maximum Theta angle of selected SOs used by doppler MAL algorithm.

Note

Unit: rad

float LocAtr_VarThetaMalSOs

Variance of Theta selected SOs angles used by doppler MAL algorithm.

Note

Unit: rad^2

float LocAtr_MeanThetaMalSOs

Mean of Theta selected SOs angles used by doppler MAL algorithm.

Note

Unit: rad

float LocAtr_MinPhiMalSOs

Minimal Phi angle of selected SOs used by doppler MAL algorithm.

Note

Unit: rad

float LocAtr_MaxPhiMalSOs

Maximum Phi angle of selected SOs used by doppler MAL algorithm.

Note

Unit: rad

float LocAtr_VarPhiMalSOs

Variance of Phi selected SOs angles used by doppler MAL algorithm.

Note

Unit: rad^2

float LocAtr_MeanPhiMalSOs

Mean of Phi selected SOs angles used by doppler MAL algorithm.

Note

Unit: rad

float LocAtr_SpreadPhiMalSOs

Spread indicator of Phi selected SOs angles used by doppler MAL algorithm.

Note

Unit: rad

uint16_t LocAtr_NumSOs

Number of selected SOs used by doppler MAL algorithm.

uint16_t LocAtr_NumEmeLocs

Number of selected locations used by EME algorithm.

Public Static Attributes

static constexpr Range<float> r_LocAtr_ThetaMalAng = {-3.141592654F, 3.141592654F, NAN}

static constexpr Range<float> r_LocAtr_ThetaMalAngVar{std::numeric_limits<float>::min(), std::numeric_limits<float>::max(), NAN}

static constexpr Range<float> r_LocAtr_PhiMalAng = {-0.785398163F, 0.785398163F, NAN}

static constexpr Range<float> r_LocAtr_PhiMalAngVar{std::numeric_limits<float>::min(), std::numeric_limits<float>::max(), NAN}

static constexpr Range<float> r_LocAtr_PhiMalAngEme = {-0.785398163F, 0.785398163F, NAN}

static constexpr Range<float> r_LocAtr_PhiMalAngEmeVar{std::numeric_limits<float>::min(), std::numeric_limits<float>::max(), NAN}

static constexpr Range<uint16_t> r_LocAtr_MalStatus = {0u, 255u, 0xFFFF}

static constexpr Range<uint16_t> r_LocAtr_MalStatusEme = {0u, 255u, 0xFFFF}

static constexpr Range<float> r_LocAtr_PercNegativeTheta = {0.0F, 100.0F, NAN}

static constexpr Range<float> r_LocAtr_MinThetaMalSOs = {-3.141592654F, 3.141592654F, NAN}

static constexpr Range<float> r_LocAtr_MaxThetaMalSOs = {-3.141592654F, 3.141592654F, NAN}

static constexpr Range<float> r_LocAtr_VarThetaMalSOs{std::numeric_limits<float>::min(), std::numeric_limits<float>::max(), NAN}

static constexpr Range<float> r_LocAtr_MeanThetaMalSOs = {-3.141592654F, 3.141592654F, NAN}

static constexpr Range<float> r_LocAtr_MinPhiMalSOs = {-0.785398163F, 0.785398163F, NAN}

static constexpr Range<float> r_LocAtr_MaxPhiMalSOs = {-0.785398163F, 0.785398163F, NAN}

static constexpr Range<float> r_LocAtr_VarPhiMalSOs{std::numeric_limits<float>::min(), std::numeric_limits<float>::max(), NAN}

static constexpr Range<float> r_LocAtr_MeanPhiMalSOs = {-0.785398163F, 0.785398163F, NAN}

static constexpr Range<float> r_LocAtr_SpreadPhiMalSOs = {-0.785398163F, 0.785398163F, NAN}

static constexpr Range<uint16_t> r_LocAtr_NumSOs = {0u, 1023u, 0xFFFF}

static constexpr Range<uint16_t> r_LocAtr_NumEmeLocs = {0u, 1023u, 0xFFFF}