sbg::helpers Namespace Reference

Enumerations
enum	NmeaGGAQuality : int32_t {   NmeaGGAQuality::INVALID = 0, NmeaGGAQuality::SINGLE = 1, NmeaGGAQuality::DGPS = 2, NmeaGGAQuality::PPS = 3,   NmeaGGAQuality::RTK_FIXED = 4, NmeaGGAQuality::RTK_FLOAT = 5, NmeaGGAQuality::DEAD_RECKONING = 6, NmeaGGAQuality::STATIC_POSITION = 7,   NmeaGGAQuality::SIMULATED = 8 }

Functions
template<class T >
const T &	clamp (const T &value, const T &min, const T &max)
sbg::SbgVector3d	convertLLAtoECEF (double latitude, double longitude, double altitude)
NmeaGGAQuality	convertSbgGpsTypeToNmeaGpsType (SbgEComGpsPosType sbg_gps_type)
uint32_t	getNumberOfDaysInMonth (uint16_t year, uint8_t month_index)
uint32_t	getNumberOfDaysInYear (uint16_t year)
int32_t	getUtcOffset (bool first_valid_utc, uint32_t gps_tow, uint8_t sec)
bool	isLeapYear (uint16_t year)
float	wrapAngle360 (float angle_deg)
float	wrapAnglePi (float angle_rad)

Enumeration Type Documentation

NmeaGGAQuality

enum sbg::helpers::NmeaGGAQuality : int32_t

strong

Standard NMEA GGA quality indicator value.

Enumerator
INVALID
SINGLE
DGPS
PPS
RTK_FIXED
RTK_FLOAT
DEAD_RECKONING
STATIC_POSITION
SIMULATED

Definition at line 51 of file sbg_ros_helpers.h.

Function Documentation

clamp()

template<class T >

const T& sbg::helpers::clamp	(	const T &	value,
		const T &	min,
		const T &	max
	)

Definition at line 137 of file sbg_ros_helpers.h.

convertLLAtoECEF()

sbg::SbgVector3d sbg::helpers::convertLLAtoECEF	(	double	latitude,
		double	longitude,
		double	altitude
	)

Definition at line 144 of file sbg_ros_helpers.cpp.

convertSbgGpsTypeToNmeaGpsType()

sbg::helpers::NmeaGGAQuality sbg::helpers::convertSbgGpsTypeToNmeaGpsType

(

SbgEComGpsPosType

sbg_gps_type

)

Convert SbgEComGpsPosType enum to NmeaGGAQuality enum

Parameters

[in]

sbg_gps_type

SbgECom GPS type

Returns

NMEA GPS type

Definition at line 105 of file sbg_ros_helpers.cpp.

getNumberOfDaysInMonth()

uint32_t sbg::helpers::getNumberOfDaysInMonth	(	uint16_t	year,
		uint8_t	month_index
	)

Get the number of days of the month index.

Parameters

[in]	year	Year.
[in]	month_index	Month index [1..12].

Returns

Number of days in the month.

Definition at line 54 of file sbg_ros_helpers.cpp.

getNumberOfDaysInYear()

uint32_t sbg::helpers::getNumberOfDaysInYear

(

uint16_t

year

)

Get the number of days in the year.

Parameters

[in]

year

Year to get the number of days.

Returns

Number of days in the year.

Definition at line 42 of file sbg_ros_helpers.cpp.

getUtcOffset()

int32_t sbg::helpers::getUtcOffset	(	bool	first_valid_utc,
		uint32_t	gps_tow,
		uint8_t	sec
	)

Returns the GPS to UTC leap second offset: GPS_Time = UTC_Tme + utcOffset

WARNING: The leap second is computed from the latest received SbgUtcTime message if any. If no SbgUtcTime message has been received, a default driver current value is used.

Parameters

[in]	first_valid_utc	First valid utc.
[in]	gps_tow	Current GPS time of the week.
[in]	sec	Current second.

Returns

Offset in seconds to apply to UTC time to get GPS time.

< Driver default GPS to UTC offset in seconds.

Definition at line 82 of file sbg_ros_helpers.cpp.

isLeapYear()

bool sbg::helpers::isLeapYear

(

uint16_t

year

)

Check if the given year is a leap year.

Parameters

[in]

year

Year to check.

Returns

True if the year is a leap year.

Definition at line 77 of file sbg_ros_helpers.cpp.

wrapAngle360()

float sbg::helpers::wrapAngle360

(

float

angle_deg

)

Wrap an angle between [ 0 ; 360 ] degree.

Parameters

[in]

angle_deg

Angle in degree.

Returns

Wrapped angle.

Definition at line 25 of file sbg_ros_helpers.cpp.

wrapAnglePi()

float sbg::helpers::wrapAnglePi

(

float

angle_rad

)

Wrap an angle between [ -Pi ; Pi ] rad.

Parameters

[in]

angle_rad

Angle in rad.

Returns

Wrapped angle.

Definition at line 10 of file sbg_ros_helpers.cpp.