.. _program_listing_file__tmp_ws_src_ublox_ublox_gps_include_ublox_gps_hpg_rov_product.hpp:

Program Listing for File hpg_rov_product.hpp
============================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_ublox_ublox_gps_include_ublox_gps_hpg_rov_product.hpp>` (``/tmp/ws/src/ublox/ublox_gps/include/ublox_gps/hpg_rov_product.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   #ifndef UBLOX_GPS_HPG_ROV_PRODUCT_HPP
   #define UBLOX_GPS_HPG_ROV_PRODUCT_HPP
   
   #include <memory>
   
   #include <diagnostic_updater/diagnostic_updater.hpp>
   #include <rclcpp/rclcpp.hpp>
   
   #include <ublox_msgs/msg/nav_relposned.hpp>
   
   #include <ublox_gps/component_interface.hpp>
   #include <ublox_gps/gps.hpp>
   #include <ublox_gps/ublox_topic_diagnostic.hpp>
   
   namespace ublox_node {
   
   class HpgRovProduct final : public virtual ComponentInterface {
    public:
     // Constants for diagnostic updater
     const double kRtcmFreqMin = 1;
     const double kRtcmFreqMax = 10;
     const double kRtcmFreqTol = 0.1;
     const int kRtcmFreqWindow = 25;
   
     explicit HpgRovProduct(uint16_t nav_rate, std::shared_ptr<diagnostic_updater::Updater> updater, rclcpp::Node* node);
   
     void getRosParams() override;
   
     bool configureUblox(std::shared_ptr<ublox_gps::Gps> gps) override;
   
     void initializeRosDiagnostics() override;
   
     void subscribe(std::shared_ptr<ublox_gps::Gps> gps) override;
   
    private:
     void carrierPhaseDiagnostics(
         diagnostic_updater::DiagnosticStatusWrapper& stat);
   
     void callbackNavRelPosNed(const ublox_msgs::msg::NavRELPOSNED &m);
   
   
     ublox_msgs::msg::NavRELPOSNED last_rel_pos_;
   
   
     uint8_t dgnss_mode_;
   
     std::unique_ptr<UbloxTopicDiagnostic> freq_rtcm_;
   
     rclcpp::Publisher<ublox_msgs::msg::NavRELPOSNED>::SharedPtr nav_rel_pos_ned_pub_;
   
     uint16_t nav_rate_;
     std::shared_ptr<diagnostic_updater::Updater> updater_;
     rclcpp::Node* node_;
   };
   
   }  // namespace ublox_node
   
   #endif  // UBLOX_GPS_HPG_ROV_PRODUCT_HPP