oem7_ros_messages.hpp

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//
// Copyright (c) 2020 NovAtel Inc.
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// furnished to do so, subject to the following conditions:
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#ifndef __OEM7_ROS_MESSAGES_HPP__
#define __OEM7_ROS_MESSAGES_HPP__

#include <ros/ros.h>

#include "oem7_raw_message_if.hpp"
using novatel_oem7::Oem7RawMessageIf;

#include "novatel_oem7_driver/ros_messages.hpp"
#include "novatel_oem7_driver/oem7_message_ids.h"

namespace novatel_oem7_driver
{

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

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