package apollo.localization

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Used in: v2x.CarStatus

• optional common.Header header = 1

• optional Pose pose = 2

• optional Uncertainty uncertainty = 3

• optional double measurement_time = 4

  The time of pose measurement, seconds since the GPS epoch (Jan 6, 1980).

  In seconds.

• repeated common.TrajectoryPoint trajectory_point = 5

  Future trajectory acturally driven by the drivers

• optional common.Header header = 1

• optional MeasureState fusion_status = 2

• optional MeasureState gnss_status = 3

• optional MeasureState lidar_status = 4

• optional double measurement_time = 5

  The time of pose measurement, seconds since the GPS epoch (Jan 6, 1980).

  In seconds.

Used in: LocalizationStatus

• NOT_VALID = 0

• NOT_STABLE = 1

• OK = 2

• VALID = 3

Used in: common.DriveEvent, LocalizationEstimate

• optional common.PointENU position = 1

  Position of the vehicle reference point (VRP) in the map reference frame. The VRP is the center of rear axle.

• optional common.Quaternion orientation = 2

  A quaternion that represents the rotation from the IMU coordinate (Right/Forward/Up) to the world coordinate (East/North/Up).

• optional common.Point3D linear_velocity = 3

  Linear velocity of the VRP in the map reference frame. East/north/up in meters per second.

• optional common.Point3D linear_acceleration = 4

  Linear acceleration of the VRP in the map reference frame. East/north/up in meters per second.

• optional common.Point3D angular_velocity = 5

  Angular velocity of the vehicle in the map reference frame. Around east/north/up axes in radians per second.

• optional double heading = 6

  Heading The heading is zero when the car is facing East and positive when facing North.

• optional common.Point3D linear_acceleration_vrf = 7

  Linear acceleration of the VRP in the vehicle reference frame. Right/forward/up in meters per square second.

• optional common.Point3D angular_velocity_vrf = 8

  Angular velocity of the VRP in the vehicle reference frame. Around right/forward/up axes in radians per second.

• optional common.Point3D euler_angles = 9

  Roll/pitch/yaw that represents a rotation with intrinsic sequence z-x-y. in world coordinate (East/North/Up) The roll, in (-pi/2, pi/2), corresponds to a rotation around the y-axis. The pitch, in [-pi, pi), corresponds to a rotation around the x-axis. The yaw, in [-pi, pi), corresponds to a rotation around the z-axis. The direction of rotation follows the right-hand rule.

Used in: LocalizationEstimate

• optional common.Point3D position_std_dev = 1

  Standard deviation of position, east/north/up in meters.

• optional common.Point3D orientation_std_dev = 2

  Standard deviation of quaternion qx/qy/qz, unitless.

• optional common.Point3D linear_velocity_std_dev = 3

  Standard deviation of linear velocity, east/north/up in meters per second.

• optional common.Point3D linear_acceleration_std_dev = 4

  Standard deviation of linear acceleration, right/forward/up in meters per square second.

• optional common.Point3D angular_velocity_std_dev = 5

  Standard deviation of angular velocity, right/forward/up in radians per second.