sbg_ros_helpers.h

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#ifndef SBG_ROS_ROS_HELPERS_H
#define SBG_ROS_ROS_HELPERS_H
 
// SbgECom headers
#include <sbgEComLib.h>
 
// Sbg headers
#include <sbg_vector3.h>
 
// STL headers
#include <cstdint>
 
namespace sbg::helpers
{
  enum class NmeaGGAQuality: int32_t
  {
    INVALID           = 0,
    SINGLE            = 1,
    DGPS              = 2,
    PPS               = 3,
    RTK_FIXED         = 4,
    RTK_FLOAT         = 5,
    DEAD_RECKONING    = 6,
    STATIC_POSITION   = 7,
    SIMULATED         = 8,
  };
 
  float wrapAnglePi(float angle_rad);
 
  float wrapAngle360(float angle_deg);
 
  uint32_t getNumberOfDaysInYear(uint16_t year);
 
  uint32_t getNumberOfDaysInMonth(uint16_t year, uint8_t month_index);
 
  bool isLeapYear(uint16_t year);
 
  int32_t getUtcOffset(bool first_valid_utc, uint32_t gps_tow, uint8_t sec);
 
  NmeaGGAQuality convertSbgGpsTypeToNmeaGpsType(SbgEComGpsPosType sbg_gps_type);
 
  /*
   * Convert latitude, longitude, altitude to ECEF coordinates.
   *
   * \param[in] latitude                Latitude, in degrees [-90 to +90].
   * \param[in] longitude               Longitude, in degrees [-180 to +180].
   * \param[in] altitude                Altitude, in meters.
   * \return                            Vector containing ECEF coordinates in meters.
   */
  sbg::SbgVector3d convertLLAtoECEF(double latitude, double longitude, double altitude);
 
  template<class T>
  const T& clamp(const T &value, const T &min, const T &max)
  {
    if (value < min)
    {
      return min;
    }
    else if (max < value)
    {
      return max;
    }
    return value;
  }
}
 
#endif // #ifndef SBG_ROS_ROS_HELPERS_H