WatsonINSDriver Class Reference

#include <watson_ins_driver.h>

Public Member Functions
void	read (sensor_msgs::Imu &imuMsg, sensor_msgs::NavSatFix &fixMsg, bool &validImu, bool &validFix)
	WatsonINSDriver (std::string path, int baud, int timeout_ms)
	~WatsonINSDriver ()

Private Member Functions
void	parseGPS (sensor_msgs::NavSatFix &gpsMsg)
void	parseIMU (sensor_msgs::Imu &imuMsg)
bool	validCmd (void)

Private Attributes
int	gpsMsgSeq
struct ins_data_t	insData
serial::Serial *	serDev

Static Private Attributes
static const int	readRetryCount = 10

Detailed Description

Definition at line 53 of file watson_ins_driver.h.

Constructor & Destructor Documentation

WatsonINSDriver::WatsonINSDriver	(	std::string	path,
		int	baud,
		int	timeout_ms
	)

Definition at line 23 of file watson_ins_driver.cpp.

WatsonINSDriver::~WatsonINSDriver

(

)

Definition at line 143 of file watson_ins_driver.cpp.

Member Function Documentation

void WatsonINSDriver::parseGPS ( sensor_msgs::NavSatFix &  gpsMsg )

private

Definition at line 36 of file watson_ins_driver.cpp.

void WatsonINSDriver::parseIMU ( sensor_msgs::Imu &  imuMsg )

private

Definition at line 58 of file watson_ins_driver.cpp.

void WatsonINSDriver::read	(	sensor_msgs::Imu &	imuMsg,
		sensor_msgs::NavSatFix &	fixMsg,
		bool &	validImu,
		bool &	validFix
	)

Definition at line 103 of file watson_ins_driver.cpp.

bool WatsonINSDriver::validCmd ( void  )

private

Definition at line 88 of file watson_ins_driver.cpp.

Member Data Documentation

int WatsonINSDriver::gpsMsgSeq

private

Definition at line 64 of file watson_ins_driver.h.

struct ins_data_t WatsonINSDriver::insData

private

Definition at line 65 of file watson_ins_driver.h.

const int WatsonINSDriver::readRetryCount = 10

staticprivate

Definition at line 62 of file watson_ins_driver.h.

serial::Serial* WatsonINSDriver::serDev

private

Definition at line 63 of file watson_ins_driver.h.

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The documentation for this class was generated from the following files:

• watson_ins_driver.h
• watson_ins_driver.cpp