novatel_gps_driver::MessageParser< T > Class Template Reference

#include <message_parser.h>

Public Member Functions
virtual uint32_t	GetMessageId () const =0
virtual const std::string	GetMessageName () const =0
virtual T	ParseAscii (const NovatelSentence &sentence) throw (ParseException)
	Converts sentence into a ROS message pointer and returns it. More...
virtual T	ParseAscii (const NmeaSentence &sentence) throw (ParseException)
	Converts sentence into a ROS message pointer and returns it. More...
virtual T	ParseBinary (const BinaryMessage &bin_msg) throw (ParseException)
	Converts bin_msg into a ROS message pointer and returns it. More...
virtual	~MessageParser ()

Detailed Description

template<typename T>
class novatel_gps_driver::MessageParser< T >

Base class for converting extracted NMEA and NovAtel sentences into ROS messages

Subclasses that parse NMEA messages should implement ParseAscii(const NmeaSentence&); subclasses that parse NovAtel messages should implement both ParseAscii(const NovatelSentence&) and ParseBinary(const BinaryMessage&).

For documentation on exact message structures, see: http://docs.novatel.com/OEM7/Content/Logs/Core_Logs.htm

Template Parameters

T	The ROS message Ptr type that the parser should produce.

Definition at line 59 of file message_parser.h.

Constructor & Destructor Documentation

template<typename T>

virtual novatel_gps_driver::MessageParser< T >::~MessageParser ( )

inlinevirtual

Definition at line 62 of file message_parser.h.

Member Function Documentation

template<typename T>

virtual uint32_t novatel_gps_driver::MessageParser< T >::GetMessageId ( ) const

pure virtual

Returns

The binary message ID. Should be 0 for messages that have no binary representation.

Implemented in novatel_gps_driver::GprmcParser, novatel_gps_driver::GpggaParser, novatel_gps_driver::BestposParser, novatel_gps_driver::BestutmParser, novatel_gps_driver::BestxyzParser, novatel_gps_driver::DualAntennaHeadingParser, novatel_gps_driver::HeaderParser, novatel_gps_driver::Heading2Parser, novatel_gps_driver::BestvelParser, novatel_gps_driver::ClockSteeringParser, novatel_gps_driver::CorrImuDataParser, novatel_gps_driver::GpgsaParser, novatel_gps_driver::GpgsvParser, novatel_gps_driver::InscovParser, novatel_gps_driver::InspvaParser, novatel_gps_driver::InspvaxParser, novatel_gps_driver::InsstdevParser, novatel_gps_driver::RangeParser, novatel_gps_driver::TrackstatParser, and novatel_gps_driver::TimeParser.

template<typename T>

virtual const std::string novatel_gps_driver::MessageParser< T >::GetMessageName ( ) const

pure virtual

Returns

The ASCII message name.

Implemented in novatel_gps_driver::GprmcParser, novatel_gps_driver::GpggaParser, novatel_gps_driver::BestposParser, novatel_gps_driver::BestutmParser, novatel_gps_driver::BestxyzParser, novatel_gps_driver::DualAntennaHeadingParser, novatel_gps_driver::HeaderParser, novatel_gps_driver::Heading2Parser, novatel_gps_driver::BestvelParser, novatel_gps_driver::ClockSteeringParser, novatel_gps_driver::CorrImuDataParser, novatel_gps_driver::GpgsaParser, novatel_gps_driver::GpgsvParser, novatel_gps_driver::InscovParser, novatel_gps_driver::InspvaParser, novatel_gps_driver::InspvaxParser, novatel_gps_driver::InsstdevParser, novatel_gps_driver::RangeParser, novatel_gps_driver::TrackstatParser, and novatel_gps_driver::TimeParser.

template<typename T>

virtual T novatel_gps_driver::MessageParser< T >::ParseAscii ( const NovatelSentence &  sentence ) throw ( ParseException )

inlinevirtual

Converts sentence into a ROS message pointer and returns it.

The returned value must not be NULL. ParseException should be thrown if there are any issues parsing the message.

Parameters

[in]

bin_msg

The message to convert.

Returns

A valid ROS message pointer.

Reimplemented in novatel_gps_driver::BestposParser, novatel_gps_driver::BestutmParser, novatel_gps_driver::BestxyzParser, novatel_gps_driver::DualAntennaHeadingParser, novatel_gps_driver::HeaderParser, novatel_gps_driver::Heading2Parser, novatel_gps_driver::BestvelParser, novatel_gps_driver::CorrImuDataParser, novatel_gps_driver::InscovParser, novatel_gps_driver::InspvaParser, novatel_gps_driver::InspvaxParser, novatel_gps_driver::InsstdevParser, novatel_gps_driver::RangeParser, novatel_gps_driver::TrackstatParser, novatel_gps_driver::TimeParser, and novatel_gps_driver::ClockSteeringParser.

Definition at line 95 of file message_parser.h.

template<typename T>

virtual T novatel_gps_driver::MessageParser< T >::ParseAscii ( const NmeaSentence &  sentence ) throw ( ParseException )

inlinevirtual

Converts sentence into a ROS message pointer and returns it.

The returned value must not be NULL. ParseException should be thrown if there are any issues parsing the message.

Parameters

[in]

bin_msg

The message to convert.

Returns

A valid ROS message pointer.

Reimplemented in novatel_gps_driver::GprmcParser, novatel_gps_driver::GpggaParser, novatel_gps_driver::GpgsaParser, and novatel_gps_driver::GpgsvParser.

Definition at line 108 of file message_parser.h.

template<typename T>

virtual T novatel_gps_driver::MessageParser< T >::ParseBinary ( const BinaryMessage &  bin_msg ) throw ( ParseException )

inlinevirtual

Converts bin_msg into a ROS message pointer and returns it.

The returned value must not be NULL. ParseException should be thrown if there are any issues parsing the message.

Parameters

[in]

bin_msg

The message to convert.

Returns

A valid ROS message pointer.

Reimplemented in novatel_gps_driver::BestposParser, novatel_gps_driver::BestutmParser, novatel_gps_driver::BestxyzParser, novatel_gps_driver::DualAntennaHeadingParser, novatel_gps_driver::HeaderParser, novatel_gps_driver::Heading2Parser, novatel_gps_driver::BestvelParser, novatel_gps_driver::CorrImuDataParser, novatel_gps_driver::InscovParser, novatel_gps_driver::InspvaParser, novatel_gps_driver::InspvaxParser, novatel_gps_driver::InsstdevParser, novatel_gps_driver::RangeParser, novatel_gps_driver::TrackstatParser, and novatel_gps_driver::TimeParser.

Definition at line 82 of file message_parser.h.

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

• message_parser.h