parsing_utilities.hpp

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#pragma once
 
// C++ library includes
#include <cmath>   // C++ header, corresponds to <math.h> in C
#include <cstdint> // C++ header, corresponds to <stdint.h> in C
#include <ctime>   // C++ header, corresponds to <time.h> in C
#include <string>  // C++ header, corresponds to <string.h> in C
// Eigen Includes
#include <Eigen/Core>
#include <Eigen/LU>
// Boost includes
#include <boost/math/constants/constants.hpp>
// ROS includes
#include <septentrio_gnss_driver/abstraction/typedefs.hpp>
 
namespace parsing_utilities {
 
    constexpr double pi_half = boost::math::constants::pi<double>() / 2.0;
 
    /***********************************************************************
     * Square value
     **********************************************************************/
    template <class T>
    [[nodiscard]] inline T square(T val)
    {
        return val * val;
    }
 
    /***********************************************************************
     * Convert degrees to radians
     **********************************************************************/
    template <class T>
    [[nodiscard]] inline T deg2rad(T deg)
    {
        return deg * boost::math::constants::degree<T>();
    }
 
    /***********************************************************************
     * Convert degrees^2 to radians^2
     **********************************************************************/
    template <class T>
    [[nodiscard]] inline T deg2radSq(T deg)
    {
        return deg * boost::math::constants::degree<T>() *
               boost::math::constants::degree<T>();
    }
 
    /***********************************************************************
     * Convert radians to degree
     **********************************************************************/
    template <class T>
    [[nodiscard]] inline T rad2deg(T rad)
    {
        return rad * boost::math::constants::radian<T>();
    }
 
    /***********************************************************************
     * Convert Euler angles to rotation matrix
     **********************************************************************/
    [[nodiscard]] inline Eigen::Matrix3d rpyToRot(double roll, double pitch, double yaw)
    {
        Eigen::Matrix3d M;
        double sa, ca, sb, cb, sc, cc;
        sa = std::sin(roll);
        ca = std::cos(roll);
        sb = std::sin(pitch);
        cb = std::cos(pitch);
        sc = std::sin(yaw);
        cc = std::cos(yaw);
 
        M << cb * cc, -ca * sc + sa * sb * cc, sc * sa + ca * sb * cc, cb * sc,
            ca * cc + sa * sb * sc, -sa * cc + ca * sb * sc, -sb, sa * cb, ca * cb;
        return M;
    }
 
    [[nodiscard]] double wrapAngle180to180(double angle);
 
    [[nodiscard]] double parseDouble(const uint8_t* buffer);
 
    [[nodiscard]] bool parseDouble(const std::string& string, double& value);
 
    [[nodiscard]] float parseFloat(const uint8_t* buffer);
 
    [[nodiscard]] bool parseFloat(const std::string& string, float& value);
 
    [[nodiscard]] int16_t parseInt16(const uint8_t* buffer);
 
    [[nodiscard]] bool parseInt16(const std::string& string, int16_t& value, int32_t base = 10);
 
    [[nodiscard]] int32_t parseInt32(const uint8_t* buffer);
 
    [[nodiscard]] bool parseInt32(const std::string& string, int32_t& value, int32_t base = 10);
 
    [[nodiscard]] bool parseUInt8(const std::string& string, uint8_t& value, int32_t base = 10);
 
    [[nodiscard]] uint16_t parseUInt16(const uint8_t* buffer);
 
    [[nodiscard]] bool parseUInt16(const std::string& string, uint16_t& value, int32_t base = 10);
 
    [[nodiscard]] uint32_t parseUInt32(const uint8_t* buffer);
 
    [[nodiscard]] bool parseUInt32(const std::string& string, uint32_t& value, int32_t base = 10);
 
    [[nodiscard]] double convertUTCDoubleToSeconds(double utc_double);
 
    [[nodiscard]] std::time_t convertUTCtoUnix(double utc_double);
 
    [[nodiscard]] double convertDMSToDegrees(double dms);
 
    [[nodiscard]] Eigen::Quaterniond convertEulerToQuaternion(double roll, double pitch,
                                                double yaw);
 
    [[nodiscard]] QuaternionMsg convertEulerToQuaternionMsg(double roll, double pitch, double yaw);
 
    [[nodiscard]] QuaternionMsg quaternionToQuaternionMsg(const Eigen::Quaterniond& q);
 
    [[nodiscard]] Eigen::Quaterniond q_enu_ecef(double lat, double lon);
 
    [[nodiscard]] Eigen::Quaterniond q_ned_ecef(double lat, double lon);
 
    [[nodiscard]] Eigen::Matrix3d R_enu_ecef(double lat, double lon);
 
    [[nodiscard]] Eigen::Matrix3d R_ned_ecef(double lat, double lon);
 
    [[nodiscard]] std::string convertUserPeriodToRxCommand(uint32_t period_user);
 
    [[nodiscard]] uint16_t getCrc(const std::vector<uint8_t>& message);
 
    [[nodiscard]] uint16_t getId(const std::vector<uint8_t>& message);
 
    [[nodiscard]] uint16_t getLength(const std::vector<uint8_t>& message);
 
    [[nodiscard]] uint32_t getTow(const std::vector<uint8_t>& message);
 
    [[nodiscard]] uint16_t getWnc(const std::vector<uint8_t>& message);
} // namespace parsing_utilities