asterx1_driver.h

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// Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
// Author 
// All rights reserved.
//
// This file is part of iri-ros-pkg
// iri-ros-pkg is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program.  If not, see <http://www.gnu.org/licenses/>.
// 
// IMPORTANT NOTE: This code has been generated through a script from the 
// iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
// of the scripts. ROS topics can be easly add by using those scripts. Please
// refer to the IRI wiki page for more information:
// http://wikiri.upc.es/index.php/Robotics_Lab

#ifndef _asterx1_driver_h_
#define _asterx1_driver_h_

#include <iri_base_driver/iri_base_driver.h>
#include <iri_asterx1/Asterx1Config.h>

//include asterx1_driver main library
#include <asterx1_gps.h>

class Asterx1Driver : public iri_base_driver::IriBaseDriver
{
  private:
    // private attributes and methods
    CasteRx1 *gpsDevice;

  public:
    typedef iri_asterx1::Asterx1Config Config;

    Config config_;

    Asterx1Driver();

    bool openDriver(void);

    bool closeDriver(void);

    bool startDriver(void);

    bool stopDriver(void);

    void config_update(const Config& new_cfg, uint32_t level=0);

    // here define all asterx1_driver interface methods to retrieve and set
    // the driver parameters

    ~Asterx1Driver();


        void setMapOrigin(double mapLat0, double mapLon0, double mapAlt0, double mapAlpha0); 
        
        void printTM();
        
        int readDataFromDevice();
    
        unsigned int getStatus();
        double getTimeStamp();
        unsigned short int getWnc();
        unsigned int getTow();
        unsigned int getNumSatellites();
        float getPDOP();
        float getTDOP();
        float getHDOP();
        float getVDOP();
        float getUndulation();
        unsigned short int getPVTerror();
        double getLat(bool units=inRADS); //by default return value in radians
        double getLon(bool units=inRADS); //by default return value in radians
        double getAlt();
        double getXWgs();
        double getYWgs();
        double getZWgs();
        double getXMap();
        double getYMap();
        double getZMap();
        double getVxWgs();
        double getVyWgs();
        double getVzWgs();
        double getVxMap();
        double getVyMap();
        double getVzMap();
        double getCxxWgs();
        double getCyyWgs();
        double getCzzWgs();
        double getCxyWgs();
        double getCxxMap();
        double getCyyMap();
        double getCzzMap();
        double getCxyMap();
        double getCxxEnu();
        double getCyyEnu();
        double getCzzEnu();
        double getCxyEnu();
        double getCxzEnu();
        double getCyzEnu();             
};

#endif