Classes
class	ALIGNHandler

class	BESTPOSHandler

class	INSHandler

class	MessageHandler

class	NMEAHandler

class	Oem7ConfigNodelet

class	Oem7DebugFile

class	Oem7LogNodelet

class	Oem7MessageDecoder

class	Oem7MessageDecoderIf

class	Oem7MessageDecoderUserIf

class	Oem7MessageHandlerIf

class	Oem7MessageNodelet

class	Oem7Receiver

class	Oem7ReceiverFile

class	Oem7ReceiverIf

class	Oem7ReceiverNet

class	Oem7ReceiverPort

class	Oem7ReceiverTcp

class	Oem7ReceiverUdp

class	Oem7RosPublisher

class	RawMsgAdapter

class	ReceiverStatusHandler

class	TimeHandler

Typedefs
typedef uint32_t	oem7_bool_t

typedef char	oem7_char_t

typedef uint32_t	oem7_enum_t

typedef uint8_t	oem7_hex_t

typedef std::vector< std::string >	str_vector_t

Enumerations
enum	GPSReferenceTimeStatus { GPS_REFTIME_STATUS_UNKNOWN = 20 }

enum	ValueRelation { REL_GT, REL_LT, REL_EQ }

Functions
struct	__attribute__ ((packed)) Oem7MessageCommonHeaderMem

double	computeHorizontalError (double lat_stdev, double lon_stdev)

double	computeSphericalError (double lat_stdev, double lon_stdev, double hgt_stdev)

double	computeVerticalError (double hgt_stdev)

double	degreesToRadians (double degrees)

double	Get3DPositionError (double lat_stdev, double lon_stdev, double hgt_stdev)

size_t	Get_INSCONFIG_NumRotations (const INSCONFIG_FixedMem *insconfig)

size_t	Get_INSCONFIG_NumTranslations (const INSCONFIG_FixedMem *insconfig)

const INSCONFIG_RotationMem *	Get_INSCONFIG_Rotation (const INSCONFIG_FixedMem *insconfig, size_t idx)

const INSCONFIG_TranslationMem *	Get_INSCONFIG_Translation (const INSCONFIG_FixedMem *insconfig, size_t idx)

size_t	Get_PSRDOP2_NumSystems (const PSRDOP2_FixedMem *psrdop2)

const PSRDOP2_SystemMem *	Get_PSRDOP2_System (const PSRDOP2_FixedMem *psrdop2, size_t idx)

void	get_status_info (uint32_t bitmask, const str_vector_t &str_map, str_vector_t &str_list, std::vector< uint8_t > &bit_list)

void	GetDOPFromPSRDOP2 (const Oem7RawMessageIf::ConstPtr &msg, uint32_t system_to_use, double &gdop, double &pdop, double &hdop, double &vdop, double &tdop)

uint32_t	GetNextMsgSequenceNumber ()

void	getOem7Header (const Oem7RawMessageIf::ConstPtr &raw_msg, novatel_oem7_msgs::Oem7Header::Type &hdr)

int	getOem7MessageId (const std::string &msg_name)

const std::string &	getOem7MessageName (int msg_id)

ValueRelation	GetOem7MessageTimeRelation (novatel_oem7_msgs::Oem7Header msg_hdr_1, novatel_oem7_msgs::Oem7Header msg_hdr_2)

void	getOem7ShortHeader (const Oem7RawMessageIf::ConstPtr &raw_msg, novatel_oem7_msgs::Oem7Header::Type &hdr)

uint8_t	GpsFixCovTypeToNavSatFixCovType (uint8_t covariance_type)

void	GpsFixToNavSatFix (const gps_common::GPSFix::Ptr gpsfix, sensor_msgs::NavSatFix::Ptr navsatfix)

static int64_t	GPSTimeToMsec (uint32_t gps_week_no, uint32_t week_msec)

static int64_t	GPSTimeToMsec (const novatel_oem7_msgs::Oem7Header &hdr)

void	initializeOem7MessageUtil (ros::NodeHandle &nh)

bool	isNMEAMessage (const Oem7RawMessageIf::ConstPtr &raw_msg)

double	MakeGpsTime_Seconds (uint16_t gps_week, uint32_t gps_milliseconds)

template<class T >
void	MakeROSMessage (const Oem7RawMessageIf::ConstPtr &msg, boost::shared_ptr< T > &rosmsg)

template void	MakeROSMessage (const Oem7RawMessageIf::ConstPtr &, boost::shared_ptr< novatel_oem7_msgs::BESTPOS > &)

template void	MakeROSMessage (const Oem7RawMessageIf::ConstPtr &, boost::shared_ptr< novatel_oem7_msgs::BESTVEL > &)

template void	MakeROSMessage (const Oem7RawMessageIf::ConstPtr &, boost::shared_ptr< novatel_oem7_msgs::BESTUTM > &)

template void	MakeROSMessage (const Oem7RawMessageIf::ConstPtr &, boost::shared_ptr< novatel_oem7_msgs::INSPVA > &)

template void	MakeROSMessage (const Oem7RawMessageIf::ConstPtr &, boost::shared_ptr< novatel_oem7_msgs::INSPVAX > &)

template void	MakeROSMessage (const Oem7RawMessageIf::ConstPtr &, boost::shared_ptr< novatel_oem7_msgs::INSCONFIG > &)

template void	MakeROSMessage (const Oem7RawMessageIf::ConstPtr &, boost::shared_ptr< novatel_oem7_msgs::INSSTDEV > &)

template void	MakeROSMessage (const Oem7RawMessageIf::ConstPtr &, boost::shared_ptr< novatel_oem7_msgs::CORRIMU > &)

template void	MakeROSMessage (const Oem7RawMessageIf::ConstPtr &, boost::shared_ptr< novatel_oem7_msgs::TIME > &)

template void	MakeROSMessage (const Oem7RawMessageIf::ConstPtr &, boost::shared_ptr< novatel_oem7_msgs::RXSTATUS > &)

template<>
void	MakeROSMessage< novatel_oem7_msgs::BESTPOS > (const Oem7RawMessageIf::ConstPtr &msg, boost::shared_ptr< novatel_oem7_msgs::BESTPOS > &bestpos)

template<>
void	MakeROSMessage< novatel_oem7_msgs::BESTUTM > (const Oem7RawMessageIf::ConstPtr &msg, boost::shared_ptr< novatel_oem7_msgs::BESTUTM > &bestutm)

template<>
void	MakeROSMessage< novatel_oem7_msgs::BESTVEL > (const Oem7RawMessageIf::ConstPtr &msg, boost::shared_ptr< novatel_oem7_msgs::BESTVEL > &bestvel)

template<>
void	MakeROSMessage< novatel_oem7_msgs::CORRIMU > (const Oem7RawMessageIf::ConstPtr &msg, boost::shared_ptr< novatel_oem7_msgs::CORRIMU > &corrimu)

template<>
void	MakeROSMessage< novatel_oem7_msgs::HEADING2 > (const Oem7RawMessageIf::ConstPtr &msg, boost::shared_ptr< novatel_oem7_msgs::HEADING2 > &heading2)

template<>
void	MakeROSMessage< novatel_oem7_msgs::INSCONFIG > (const Oem7RawMessageIf::ConstPtr &msg, boost::shared_ptr< novatel_oem7_msgs::INSCONFIG > &insconfig)

template<>
void	MakeROSMessage< novatel_oem7_msgs::INSPVA > (const Oem7RawMessageIf::ConstPtr &msg, boost::shared_ptr< novatel_oem7_msgs::INSPVA > &pva)

template<>
void	MakeROSMessage< novatel_oem7_msgs::INSPVAX > (const Oem7RawMessageIf::ConstPtr &msg, boost::shared_ptr< novatel_oem7_msgs::INSPVAX > &inspvax)

template<>
void	MakeROSMessage< novatel_oem7_msgs::INSSTDEV > (const Oem7RawMessageIf::ConstPtr &msg, boost::shared_ptr< novatel_oem7_msgs::INSSTDEV > &insstdev)

template<>
void	MakeROSMessage< novatel_oem7_msgs::RXSTATUS > (const Oem7RawMessageIf::ConstPtr &msg, boost::shared_ptr< novatel_oem7_msgs::RXSTATUS > &rxstatus)

template<>
void	MakeROSMessage< novatel_oem7_msgs::TIME > (const Oem7RawMessageIf::ConstPtr &msg, boost::shared_ptr< novatel_oem7_msgs::TIME > &time)

static const std::vector< int >	OEM7_NMEA_MSGIDS ({GLMLA_OEM7_MSGID, GPALM_OEM7_MSGID, GPGGA_OEM7_MSGID, GPGGALONG_OEM7_MSGID, GPGLL_OEM7_MSGID, GPGRS_OEM7_MSGID, GPGSA_OEM7_MSGID, GPGST_OEM7_MSGID, GPGSV_OEM7_MSGID, GPHDT_OEM7_MSGID, GPHDTDUALANTENNA_MSGID, GPRMB_OEM7_MSGID, GPRMC_OEM7_MSGID, GPVTG_OEM7_MSGID, GPZDA_OEM7_MSGID})

double	radiansToDegrees (double radians)

void	SetOem7Header (const Oem7RawMessageIf::ConstPtr &msg, const std::string &name, novatel_oem7_msgs::Oem7Header::Type &oem7_hdr)

void	SetOem7ShortHeader (const Oem7RawMessageIf::ConstPtr &msg, const std::string &name, novatel_oem7_msgs::Oem7Header::Type &oem7_hdr)

template<typename T >
void	SetROSHeader (const std::string &frame_id, boost::shared_ptr< T > &msg)

int16_t	ToROSGPSStatus (const novatel_oem7_msgs::BESTPOS::Ptr bestpos)

void	UTMPointFromGnss (geometry_msgs::Point &pt, double lat, double lon, double hgt)

Variables
const str_vector_t	AUX1_STATUS_STRS

const str_vector_t	AUX2_STATUS_STRS

const str_vector_t	AUX3_STATUS_STRS

const str_vector_t	AUX4_STATUS_STRS

const int	BESTPOS_OEM7_MSGID = 42

const int	BESTUTM_OEM7_MSGID = 726

const int	BESTVEL_OEM7_MSGID = 99

const int	CORRIMUS_OEM7_MSGID = 2264

const double	DATA_NOT_AVAILABLE = -1.0
	Used to initialized unpopulated fields. More...

const int	GLMLA_OEM7_MSGID = 859

const int	GPALM_OEM7_MSGID = 217

const int	GPGGA_OEM7_MSGID = 218

const int	GPGGALONG_OEM7_MSGID = 521

const int	GPGLL_OEM7_MSGID = 219

const int	GPGRS_OEM7_MSGID = 220

const int	GPGSA_OEM7_MSGID = 221

const int	GPGST_OEM7_MSGID = 222

const int	GPGSV_OEM7_MSGID = 223

const int	GPHDT_OEM7_MSGID = 1045

const int	GPHDTDUALANTENNA_MSGID = 2045

const int	GPRMB_OEM7_MSGID = 224

const int	GPRMC_OEM7_MSGID = 225

const int	GPVTG_OEM7_MSGID = 226

const int	GPZDA_OEM7_MSGID = 227

const int	HEADING2_OEM7_MSGID = 1335

const int	IMURATECORRIMUS_OEM7_MSGID = 1362

const int	INSCONFIG_OEM7_MSGID = 1945

const int	INSPVAS_OEM7_MSGID = 508

const int	INSPVAX_OEM7_MSGID = 1465

const int	INSSTDEV_OEM7_MSGID = 2051

const std::size_t	OEM7_BINARY_MSG_HDR_LEN = sizeof(Oem7MessageHeaderMem)

const std::size_t	OEM7_BINARY_MSG_SHORT_HDR_LEN = sizeof(Oem7MessgeShortHeaderMem)

const int	PSRDOP2_OEM7_MSGID = 1163

const str_vector_t	RECEIVER_ERROR_STRS

const str_vector_t	RECEIVER_STATUS_STRS

const int	RXSTATUS_OEM7_MSGID = 93

const int	TIME_OEM7_MSGID = 101

Typedef Documentation

typedef uint32_t novatel_oem7_driver::oem7_bool_t

Definition at line 43 of file oem7_messages.h.

typedef char novatel_oem7_driver::oem7_char_t

Definition at line 45 of file oem7_messages.h.

typedef uint32_t novatel_oem7_driver::oem7_enum_t

Definition at line 42 of file oem7_messages.h.

typedef uint8_t novatel_oem7_driver::oem7_hex_t

Definition at line 44 of file oem7_messages.h.

typedef std::vector<std::string> novatel_oem7_driver::str_vector_t

Definition at line 40 of file receiverstatus_handler.cpp.

Enumeration Type Documentation

enum novatel_oem7_driver::GPSReferenceTimeStatus

Enumerator
GPS_REFTIME_STATUS_UNKNOWN

Definition at line 42 of file oem7_message_util.cpp.

enum novatel_oem7_driver::ValueRelation

Enumerator
REL_GT
REL_LT
REL_EQ

Definition at line 198 of file bestpos_handler.cpp.

Function Documentation

struct novatel_oem7_driver::__attribute__ ( (packed) )

Definition at line 51 of file oem7_messages.h.

double novatel_oem7_driver::computeHorizontalError	(	double	lat_stdev,
		double	lon_stdev
	)

Definition at line 97 of file bestpos_handler.cpp.

double novatel_oem7_driver::computeSphericalError	(	double	lat_stdev,
		double	lon_stdev,
		double	hgt_stdev
	)

Definition at line 118 of file bestpos_handler.cpp.

double novatel_oem7_driver::computeVerticalError ( double hgt_stdev )

Definition at line 109 of file bestpos_handler.cpp.

double novatel_oem7_driver::degreesToRadians ( double degrees )

inline

Definition at line 73 of file bestpos_handler.cpp.

double novatel_oem7_driver::Get3DPositionError	(	double	lat_stdev,
		double	lon_stdev,
		double	hgt_stdev
	)

Compute a single 3D standard deviation from individual deviations. This can be used as a '3D error'.

Definition at line 83 of file bestpos_handler.cpp.

size_t novatel_oem7_driver::Get_INSCONFIG_NumRotations ( const INSCONFIG_FixedMem * insconfig )

Definition at line 135 of file oem7_message_util.cpp.

size_t novatel_oem7_driver::Get_INSCONFIG_NumTranslations ( const INSCONFIG_FixedMem * insconfig )

Definition at line 119 of file oem7_message_util.cpp.

const INSCONFIG_RotationMem * novatel_oem7_driver::Get_INSCONFIG_Rotation	(	const INSCONFIG_FixedMem *	insconfig,
		size_t	idx
	)

Definition at line 146 of file oem7_message_util.cpp.

const INSCONFIG_TranslationMem * novatel_oem7_driver::Get_INSCONFIG_Translation	(	const INSCONFIG_FixedMem *	insconfig,
		size_t	idx
	)

Definition at line 125 of file oem7_message_util.cpp.

size_t novatel_oem7_driver::Get_PSRDOP2_NumSystems ( const PSRDOP2_FixedMem * psrdop2 )

Definition at line 159 of file oem7_message_util.cpp.

const PSRDOP2_SystemMem * novatel_oem7_driver::Get_PSRDOP2_System	(	const PSRDOP2_FixedMem *	psrdop2,
		size_t	idx
	)

Definition at line 165 of file oem7_message_util.cpp.

void novatel_oem7_driver::get_status_info	(	uint32_t	bitmask,
		const str_vector_t &	str_map,
		str_vector_t &	str_list,
		std::vector< uint8_t > &	bit_list
	)

Definition at line 265 of file receiverstatus_handler.cpp.

void novatel_oem7_driver::GetDOPFromPSRDOP2	(	const Oem7RawMessageIf::ConstPtr &	msg,
		uint32_t	system_to_use,
		double &	gdop,
		double &	pdop,
		double &	hdop,
		double &	vdop,
		double &	tdop
	)

Definition at line 564 of file oem7_ros_messages.cpp.

uint32_t novatel_oem7_driver::GetNextMsgSequenceNumber ( )

Generate ROS message sequence number

Returns: sequence number

Definition at line 59 of file oem7_ros_messages.cpp.

void novatel_oem7_driver::getOem7Header	(	const Oem7RawMessageIf::ConstPtr &	raw_msg,
		novatel_oem7_msgs::Oem7Header::Type &	hdr
	)

Populates Oem7 Binary message header from raw message

Gets Oem7 Binary message header from raw message

Parameters

[in]	raw_msg	Raw binary message
[out]	hdr	Oem7 Message Header

Definition at line 78 of file oem7_message_util.cpp.

int novatel_oem7_driver::getOem7MessageId ( const std::string & msg_name )

Definition at line 63 of file oem7_message_util.cpp.

const std::string & novatel_oem7_driver::getOem7MessageName ( int msg_id )

Definition at line 68 of file oem7_message_util.cpp.

ValueRelation novatel_oem7_driver::GetOem7MessageTimeRelation	(	novatel_oem7_msgs::Oem7Header	msg_hdr_1,
		novatel_oem7_msgs::Oem7Header	msg_hdr_2
	)

Definition at line 210 of file bestpos_handler.cpp.

void novatel_oem7_driver::getOem7ShortHeader	(	const Oem7RawMessageIf::ConstPtr &	raw_msg,
		novatel_oem7_msgs::Oem7Header::Type &	hdr
	)

Populates Oem7 Binary message header from 'short' raw message

Parameters

[in]	raw_msg	Raw binary message
[out]	hdr	Oem7 Message Header

Definition at line 93 of file oem7_message_util.cpp.

uint8_t novatel_oem7_driver::GpsFixCovTypeToNavSatFixCovType ( uint8_t covariance_type )

Definition at line 235 of file bestpos_handler.cpp.

void novatel_oem7_driver::GpsFixToNavSatFix	(	const gps_common::GPSFix::Ptr	gpsfix,
		sensor_msgs::NavSatFix::Ptr	navsatfix
	)

Definition at line 260 of file bestpos_handler.cpp.

static int64_t novatel_oem7_driver::GPSTimeToMsec	(	uint32_t	gps_week_no,
		uint32_t	week_msec
	)

inlinestatic

Definition at line 34 of file oem7_driver_util.hpp.

static int64_t novatel_oem7_driver::GPSTimeToMsec ( const novatel_oem7_msgs::Oem7Header & hdr )

inlinestatic

Definition at line 44 of file oem7_driver_util.hpp.

void novatel_oem7_driver::initializeOem7MessageUtil ( ros::NodeHandle & nh )

Definition at line 47 of file oem7_message_util.cpp.

bool novatel_oem7_driver::isNMEAMessage ( const Oem7RawMessageIf::ConstPtr & raw_msg )

Determines if this is NMEA0183 Oem7 message

Definition at line 112 of file oem7_message_util.cpp.

double novatel_oem7_driver::MakeGpsTime_Seconds	(	uint16_t	gps_week,
		uint32_t	gps_milliseconds
	)

Definition at line 185 of file bestpos_handler.cpp.

template<class T >

void novatel_oem7_driver::MakeROSMessage	(	const Oem7RawMessageIf::ConstPtr &	msg,
		boost::shared_ptr< T > &	rosmsg
	)

template void novatel_oem7_driver::MakeROSMessage	(	const Oem7RawMessageIf::ConstPtr &	,
		boost::shared_ptr< novatel_oem7_msgs::BESTPOS > &
	)

template void novatel_oem7_driver::MakeROSMessage	(	const Oem7RawMessageIf::ConstPtr &	,
		boost::shared_ptr< novatel_oem7_msgs::BESTVEL > &
	)

template void novatel_oem7_driver::MakeROSMessage	(	const Oem7RawMessageIf::ConstPtr &	,
		boost::shared_ptr< novatel_oem7_msgs::BESTUTM > &
	)

template void novatel_oem7_driver::MakeROSMessage	(	const Oem7RawMessageIf::ConstPtr &	,
		boost::shared_ptr< novatel_oem7_msgs::INSPVA > &
	)

template void novatel_oem7_driver::MakeROSMessage	(	const Oem7RawMessageIf::ConstPtr &	,
		boost::shared_ptr< novatel_oem7_msgs::INSPVAX > &
	)

template void novatel_oem7_driver::MakeROSMessage	(	const Oem7RawMessageIf::ConstPtr &	,
		boost::shared_ptr< novatel_oem7_msgs::INSCONFIG > &
	)

template void novatel_oem7_driver::MakeROSMessage	(	const Oem7RawMessageIf::ConstPtr &	,
		boost::shared_ptr< novatel_oem7_msgs::INSSTDEV > &
	)

template void novatel_oem7_driver::MakeROSMessage	(	const Oem7RawMessageIf::ConstPtr &	,
		boost::shared_ptr< novatel_oem7_msgs::CORRIMU > &
	)

template void novatel_oem7_driver::MakeROSMessage	(	const Oem7RawMessageIf::ConstPtr &	,
		boost::shared_ptr< novatel_oem7_msgs::TIME > &
	)

template void novatel_oem7_driver::MakeROSMessage	(	const Oem7RawMessageIf::ConstPtr &	,
		boost::shared_ptr< novatel_oem7_msgs::RXSTATUS > &
	)

template<>

void novatel_oem7_driver::MakeROSMessage< novatel_oem7_msgs::BESTPOS >	(	const Oem7RawMessageIf::ConstPtr &	msg,
		boost::shared_ptr< novatel_oem7_msgs::BESTPOS > &	bestpos
	)

Definition at line 132 of file oem7_ros_messages.cpp.

template<>

void novatel_oem7_driver::MakeROSMessage< novatel_oem7_msgs::BESTUTM >	(	const Oem7RawMessageIf::ConstPtr &	msg,
		boost::shared_ptr< novatel_oem7_msgs::BESTUTM > &	bestutm
	)

Definition at line 193 of file oem7_ros_messages.cpp.

template<>

void novatel_oem7_driver::MakeROSMessage< novatel_oem7_msgs::BESTVEL >	(	const Oem7RawMessageIf::ConstPtr &	msg,
		boost::shared_ptr< novatel_oem7_msgs::BESTVEL > &	bestvel
	)

Definition at line 169 of file oem7_ros_messages.cpp.

template<>

void novatel_oem7_driver::MakeROSMessage< novatel_oem7_msgs::CORRIMU >	(	const Oem7RawMessageIf::ConstPtr &	msg,
		boost::shared_ptr< novatel_oem7_msgs::CORRIMU > &	corrimu
	)

Definition at line 412 of file oem7_ros_messages.cpp.

template<>

void novatel_oem7_driver::MakeROSMessage< novatel_oem7_msgs::HEADING2 >	(	const Oem7RawMessageIf::ConstPtr &	msg,
		boost::shared_ptr< novatel_oem7_msgs::HEADING2 > &	heading2
	)

Definition at line 98 of file oem7_ros_messages.cpp.

template<>

void novatel_oem7_driver::MakeROSMessage< novatel_oem7_msgs::INSCONFIG >	(	const Oem7RawMessageIf::ConstPtr &	msg,
		boost::shared_ptr< novatel_oem7_msgs::INSCONFIG > &	insconfig
	)

Definition at line 258 of file oem7_ros_messages.cpp.

template<>

void novatel_oem7_driver::MakeROSMessage< novatel_oem7_msgs::INSPVA >	(	const Oem7RawMessageIf::ConstPtr &	msg,
		boost::shared_ptr< novatel_oem7_msgs::INSPVA > &	pva
	)

Definition at line 231 of file oem7_ros_messages.cpp.

template<>

void novatel_oem7_driver::MakeROSMessage< novatel_oem7_msgs::INSPVAX >	(	const Oem7RawMessageIf::ConstPtr &	msg,
		boost::shared_ptr< novatel_oem7_msgs::INSPVAX > &	inspvax
	)

Definition at line 342 of file oem7_ros_messages.cpp.

template<>

void novatel_oem7_driver::MakeROSMessage< novatel_oem7_msgs::INSSTDEV >	(	const Oem7RawMessageIf::ConstPtr &	msg,
		boost::shared_ptr< novatel_oem7_msgs::INSSTDEV > &	insstdev
	)

Definition at line 382 of file oem7_ros_messages.cpp.

template<>

void novatel_oem7_driver::MakeROSMessage< novatel_oem7_msgs::RXSTATUS >	(	const Oem7RawMessageIf::ConstPtr &	msg,
		boost::shared_ptr< novatel_oem7_msgs::RXSTATUS > &	rxstatus
	)

Definition at line 479 of file oem7_ros_messages.cpp.

template<>

void novatel_oem7_driver::MakeROSMessage< novatel_oem7_msgs::TIME >	(	const Oem7RawMessageIf::ConstPtr &	msg,
		boost::shared_ptr< novatel_oem7_msgs::TIME > &	time
	)

Definition at line 452 of file oem7_ros_messages.cpp.

static const std::vector<int> novatel_oem7_driver::OEM7_NMEA_MSGIDS ( {GLMLA_OEM7_MSGID, GPALM_OEM7_MSGID, GPGGA_OEM7_MSGID, GPGGALONG_OEM7_MSGID, GPGLL_OEM7_MSGID, GPGRS_OEM7_MSGID, GPGSA_OEM7_MSGID, GPGST_OEM7_MSGID, GPGSV_OEM7_MSGID, GPHDT_OEM7_MSGID, GPHDTDUALANTENNA_MSGID, GPRMB_OEM7_MSGID, GPRMC_OEM7_MSGID, GPVTG_OEM7_MSGID, GPZDA_OEM7_MSGID} )

static

double novatel_oem7_driver::radiansToDegrees ( double radians )

inline

Definition at line 63 of file bestpos_handler.cpp.

void novatel_oem7_driver::SetOem7Header	(	const Oem7RawMessageIf::ConstPtr &	msg,
		const std::string &	name,
		novatel_oem7_msgs::Oem7Header::Type &	oem7_hdr
	)

Parameters

msg	in: raw message
name	message name
oem7_hdr	header to populate

Definition at line 70 of file oem7_ros_messages.cpp.

void novatel_oem7_driver::SetOem7ShortHeader	(	const Oem7RawMessageIf::ConstPtr &	msg,
		const std::string &	name,
		novatel_oem7_msgs::Oem7Header::Type &	oem7_hdr
	)

Parameters

msg	in: short raw message
name	message name
oem7_hdr	header to populate

Definition at line 84 of file oem7_ros_messages.cpp.

template<typename T >

void novatel_oem7_driver::SetROSHeader	(	const std::string &	frame_id,
		boost::shared_ptr< T > &	msg
	)

Definition at line 38 of file ros_messages.hpp.

int16_t novatel_oem7_driver::ToROSGPSStatus ( const novatel_oem7_msgs::BESTPOS::Ptr bestpos )

Definition at line 128 of file bestpos_handler.cpp.

void novatel_oem7_driver::UTMPointFromGnss	(	geometry_msgs::Point &	pt,
		double	lat,
		double	lon,
		double	hgt
	)

Get Geometry (UTM) point from GNSS position, assuming zero origin.

Definition at line 275 of file bestpos_handler.cpp.

Variable Documentation

const str_vector_t novatel_oem7_driver::AUX1_STATUS_STRS

Auxiliary 1 Status strings - refer to Oem7 manual.

Definition at line 118 of file receiverstatus_handler.cpp.

const str_vector_t novatel_oem7_driver::AUX2_STATUS_STRS

Auxiliary 2 Status strings - refer to Oem7 manual.

Definition at line 155 of file receiverstatus_handler.cpp.

const str_vector_t novatel_oem7_driver::AUX3_STATUS_STRS

Auxiliary 3 Status strings - refer to Oem7 manual.

Definition at line 192 of file receiverstatus_handler.cpp.

const str_vector_t novatel_oem7_driver::AUX4_STATUS_STRS

Definition at line 228 of file receiverstatus_handler.cpp.

const int novatel_oem7_driver::BESTPOS_OEM7_MSGID = 42

Definition at line 35 of file oem7_message_ids.h.

const int novatel_oem7_driver::BESTUTM_OEM7_MSGID = 726

Definition at line 36 of file oem7_message_ids.h.

const int novatel_oem7_driver::BESTVEL_OEM7_MSGID = 99

Definition at line 37 of file oem7_message_ids.h.

const int novatel_oem7_driver::CORRIMUS_OEM7_MSGID = 2264

Definition at line 38 of file oem7_message_ids.h.

const double novatel_oem7_driver::DATA_NOT_AVAILABLE = -1.0

Used to initialized unpopulated fields.

Definition at line 71 of file ins_handler.cpp.

const int novatel_oem7_driver::GLMLA_OEM7_MSGID = 859

Definition at line 50 of file oem7_message_ids.h.

const int novatel_oem7_driver::GPALM_OEM7_MSGID = 217

Definition at line 51 of file oem7_message_ids.h.

const int novatel_oem7_driver::GPGGA_OEM7_MSGID = 218

Definition at line 52 of file oem7_message_ids.h.

const int novatel_oem7_driver::GPGGALONG_OEM7_MSGID = 521

Definition at line 53 of file oem7_message_ids.h.

const int novatel_oem7_driver::GPGLL_OEM7_MSGID = 219

Definition at line 54 of file oem7_message_ids.h.

const int novatel_oem7_driver::GPGRS_OEM7_MSGID = 220

Definition at line 55 of file oem7_message_ids.h.

const int novatel_oem7_driver::GPGSA_OEM7_MSGID = 221

Definition at line 56 of file oem7_message_ids.h.

const int novatel_oem7_driver::GPGST_OEM7_MSGID = 222

Definition at line 57 of file oem7_message_ids.h.

const int novatel_oem7_driver::GPGSV_OEM7_MSGID = 223

Definition at line 58 of file oem7_message_ids.h.

const int novatel_oem7_driver::GPHDT_OEM7_MSGID = 1045

Definition at line 59 of file oem7_message_ids.h.

const int novatel_oem7_driver::GPHDTDUALANTENNA_MSGID = 2045

Definition at line 60 of file oem7_message_ids.h.

const int novatel_oem7_driver::GPRMB_OEM7_MSGID = 224

Definition at line 61 of file oem7_message_ids.h.

const int novatel_oem7_driver::GPRMC_OEM7_MSGID = 225

Definition at line 62 of file oem7_message_ids.h.

const int novatel_oem7_driver::GPVTG_OEM7_MSGID = 226

Definition at line 63 of file oem7_message_ids.h.

const int novatel_oem7_driver::GPZDA_OEM7_MSGID = 227

Definition at line 64 of file oem7_message_ids.h.

const int novatel_oem7_driver::HEADING2_OEM7_MSGID = 1335

Definition at line 39 of file oem7_message_ids.h.

const int novatel_oem7_driver::IMURATECORRIMUS_OEM7_MSGID = 1362

Definition at line 40 of file oem7_message_ids.h.

const int novatel_oem7_driver::INSCONFIG_OEM7_MSGID = 1945

Definition at line 41 of file oem7_message_ids.h.

const int novatel_oem7_driver::INSPVAS_OEM7_MSGID = 508

Definition at line 42 of file oem7_message_ids.h.

const int novatel_oem7_driver::INSPVAX_OEM7_MSGID = 1465

Definition at line 43 of file oem7_message_ids.h.

const int novatel_oem7_driver::INSSTDEV_OEM7_MSGID = 2051

Definition at line 44 of file oem7_message_ids.h.

const std::size_t novatel_oem7_driver::OEM7_BINARY_MSG_HDR_LEN = sizeof(Oem7MessageHeaderMem)

Definition at line 411 of file oem7_messages.h.

const std::size_t novatel_oem7_driver::OEM7_BINARY_MSG_SHORT_HDR_LEN = sizeof(Oem7MessgeShortHeaderMem)

Definition at line 412 of file oem7_messages.h.

const int novatel_oem7_driver::PSRDOP2_OEM7_MSGID = 1163

Definition at line 45 of file oem7_message_ids.h.

const str_vector_t novatel_oem7_driver::RECEIVER_ERROR_STRS

Definition at line 45 of file receiverstatus_handler.cpp.

const str_vector_t novatel_oem7_driver::RECEIVER_STATUS_STRS

Oem7 receiver status strings - refer to Oem7 manual

Definition at line 82 of file receiverstatus_handler.cpp.

const int novatel_oem7_driver::RXSTATUS_OEM7_MSGID = 93

Definition at line 46 of file oem7_message_ids.h.

const int novatel_oem7_driver::TIME_OEM7_MSGID = 101

Definition at line 47 of file oem7_message_ids.h.

Classes

Typedefs

Enumerations

Functions

Variables

Typedef Documentation

Enumeration Type Documentation

Function Documentation

Variable Documentation