Convert between various compass representations. More...

#include <compass_converter.h>

Inheritance diagram for compass_conversions::CompassConverter:

Public Member Functions
	CompassConverter (const cras::LogHelperPtr &log, bool strict)
	Create the compass converter. More...

virtual cras::expected< double, std::string >	computeMagneticDeclination (const sensor_msgs::NavSatFix &fix, const ros::Time &stamp) const
	Compute magnetic declination for the given position and time. More...

virtual cras::expected< std::pair< double, int >, std::string >	computeUTMGridConvergenceAndZone (const sensor_msgs::NavSatFix &fix, const cras::optional< int > &utmZone) const
	Get the value of UTM grid convergence and UTM zone for the provided place. More...

void	configFromParams (const cras::BoundParamHelper &params)
	Configure the compass converter from the given ROS parameters. More...

virtual cras::expected< compass_msgs::Azimuth, std::string >	convertAzimuth (const compass_msgs::Azimuth &azimuth, decltype(compass_msgs::Azimuth::unit) unit, decltype(compass_msgs::Azimuth::orientation) orientation, decltype(compass_msgs::Azimuth::reference) reference) const
	Convert the given compass_msgs::Azimuth message parametrized by the given unit, orientation and reference. More...

cras::expected< compass_msgs::Azimuth, std::string >	convertImuMsgEvent (const ros::MessageEvent< sensor_msgs::Imu const > &imuEvent, decltype(compass_msgs::Azimuth::unit) unit=compass_msgs::Azimuth::UNIT_RAD, const cras::optional< decltype(compass_msgs::Azimuth::orientation)> &orientation={}, const cras::optional< decltype(compass_msgs::Azimuth::reference)> &reference={}) const
	Convert a received sensor_msgs::Imu message to Azimuth. If needed, extract the orientation and reference from the topic name. More...

cras::expected< compass_msgs::Azimuth, std::string >	convertPoseMsgEvent (const ros::MessageEvent< geometry_msgs::PoseWithCovarianceStamped const > &poseEvent, decltype(compass_msgs::Azimuth::unit) unit=compass_msgs::Azimuth::UNIT_RAD, const cras::optional< decltype(compass_msgs::Azimuth::orientation)> &orientation={}, const cras::optional< decltype(compass_msgs::Azimuth::reference)> &reference={}) const
	Convert a received geometry_msgs::PoseWithCovarianceStamped message to Azimuth. If needed, extract the orientation and reference from the topic name. More...

virtual cras::expected< compass_msgs::Azimuth, std::string >	convertQuaternion (const geometry_msgs::Quaternion &quat, const std_msgs::Header &header, decltype(compass_msgs::Azimuth::variance) variance, decltype(compass_msgs::Azimuth::unit) unit, decltype(compass_msgs::Azimuth::orientation) orientation, decltype(compass_msgs::Azimuth::reference) reference) const
	Convert the given geometry_msgs::Quaternion message to Azimuth parametrized by the given unit, orientation and reference. More...

virtual cras::expected< compass_msgs::Azimuth, std::string >	convertQuaternion (const geometry_msgs::QuaternionStamped &quat, decltype(compass_msgs::Azimuth::variance) variance, decltype(compass_msgs::Azimuth::unit) unit, decltype(compass_msgs::Azimuth::orientation) orientation, decltype(compass_msgs::Azimuth::reference) reference) const
	Convert the given geometry_msgs::QuaternionStamped message to Azimuth parametrized by the given unit, orientation and reference. More...

cras::expected< compass_msgs::Azimuth, std::string >	convertQuaternionMsgEvent (const ros::MessageEvent< geometry_msgs::QuaternionStamped const > &quatEvent, decltype(compass_msgs::Azimuth::variance) variance=0, decltype(compass_msgs::Azimuth::unit) unit=compass_msgs::Azimuth::UNIT_RAD, const cras::optional< decltype(compass_msgs::Azimuth::orientation)> &orientation={}, const cras::optional< decltype(compass_msgs::Azimuth::reference)> &reference={}) const
	Convert a received geometry_msgs::QuaternionStamped message to Azimuth. If needed, extract the orientation and reference from the topic name. More...

virtual cras::expected< sensor_msgs::Imu, std::string >	convertToImu (const compass_msgs::Azimuth &azimuth) const
	Convert the given Azimuth message to sensor_msgs::Imu in the same parametrization. More...

virtual cras::expected< geometry_msgs::PoseWithCovarianceStamped, std::string >	convertToPose (const compass_msgs::Azimuth &azimuth) const
	Convert the given Azimuth message to geometry_msgs::PoseWithCovarianceStamped in the same parametrization. More...

virtual cras::expected< geometry_msgs::QuaternionStamped, std::string >	convertToQuaternion (const compass_msgs::Azimuth &azimuth) const
	Convert the given Azimuth message to geometry_msgs::QuaternionStamped in the same parametrization. More...

cras::expected< compass_msgs::Azimuth, std::string >	convertUniversalMsgEvent (const ros::MessageEvent< topic_tools::ShapeShifter const > &event, decltype(compass_msgs::Azimuth::variance) variance=0, decltype(compass_msgs::Azimuth::unit) unit=compass_msgs::Azimuth::UNIT_RAD, const cras::optional< decltype(compass_msgs::Azimuth::orientation)> &orientation={}, const cras::optional< decltype(compass_msgs::Azimuth::reference)> &reference={}) const
	Convert a received message to Azimuth. If needed, extract the orientation and reference from the topic name. More...

virtual void	forceMagneticDeclination (const cras::optional< double > &declination)
	Force magnetic declination instead of computing it. More...

virtual void	forceMagneticModelName (const std::string &model)
	Force using the given magnetic model instead of automatically selecting the best one. More...

virtual void	forceUTMGridConvergence (const cras::optional< double > &convergence)
	Force UTM grid convergence instead of computing it. More...

virtual void	forceUTMZone (const cras::optional< int > &zone)
	Set the UTM zone that will be used for all future UTM operations. More...

virtual cras::expected< double, std::string >	getMagneticDeclination (const ros::Time &stamp) const
	Get the value of magnetic declination for the last location received by setNatSatPos(). More...

virtual cras::expected< double, std::string >	getUTMGridConvergence () const
	Get the value of UTM grid convergence for the last location received by setNatSatPos(). More...

virtual cras::expected< int, std::string >	getUTMZone () const
	Get the UTM zone of the last location received by setNatSatPos(). More...

virtual void	setKeepUTMZone (bool keep)
	Set whether UTM zone should be kept after it is first computed. More...

virtual void	setMagneticModelPath (const cras::optional< std::string > &modelPath)
	Set the path where magnetic models are stored. More...

virtual void	setNavSatPos (const sensor_msgs::NavSatFix &fix)
	Callback for GNSS fix (so that the converter can compute UTM grid convergence and store the pose). More...

virtual	~CompassConverter ()

Public Member Functions inherited from cras::HasLogger
::cras::LogHelperConstPtr	getCrasLogger () const

	HasLogger (const ::cras::LogHelperPtr &log)

void	setCrasLogger (const ::cras::LogHelperPtr &log)

Protected Attributes
std::unique_ptr< CompassConverterPrivate >	data
	PIMPL data. More...

cras::optional< double >	forcedMagneticDeclination
	The user-forced magnetic declination (if set, do not compute it). More...

std::string	forcedMagneticModelName {}
	If the user forces a magnetic model, this is its name. More...

cras::optional< double >	forcedUTMGridConvergence
	The user-forced UTM grid convergence (if set, do not compute it). More...

cras::optional< int >	forcedUTMZone
	The user-forced UTM zone (if set, do not compute it). More...

bool	keepUTMZone {true}
	If true, the first determined UTM zone will be kept for all future queries. More...

cras::optional< sensor_msgs::NavSatFix >	lastFix
	Last received GNSS fix. Used for determining magnetic declination and UTM grid convergence. More...

cras::optional< double >	lastUTMGridConvergence
	UTM convergence of the last received navsat position (or the forced one). More...

cras::optional< int >	lastUTMZone
	Last determined UTM zone. If empty, no zone has been determined yet. More...

bool	strict {true}
	If true, convertAzimuth() will fail when the magnetic model is used outside its bounds. More...

Protected Attributes inherited from cras::HasLogger
::cras::LogHelperPtr	log

Detailed Description

Convert between various compass representations.

When converting only units or orientations, no NavSatFix is needed. However, if you need to convert between different references, you need to provide a NavSatFix with valid GNSS position and time and set it using setNavSatPos().

Definition at line 43 of file compass_converter.h.

Constructor & Destructor Documentation

◆ CompassConverter()

compass_conversions::CompassConverter::CompassConverter	(	const cras::LogHelperPtr &	log,
		bool	strict
	)

Create the compass converter.

Parameters

[in]	log	The logger.
[in]	strict	Whether to fail if the magnetic model is used outside its natural validity bounds.

◆ ~CompassConverter()

virtual compass_conversions::CompassConverter::~CompassConverter ( )

virtual

Member Function Documentation

◆ computeMagneticDeclination()

virtual cras::expected<double, std::string> compass_conversions::CompassConverter::computeMagneticDeclination	(	const sensor_msgs::NavSatFix &	fix,
		const ros::Time &	stamp
	)		const

virtual

Compute magnetic declination for the given position and time.

Parameters

[in]	fix	The position to compute declination for.
[in]	stamp	The time to compute declination for.

Returns: The magnetic declination in radians or an error message.

Note: This function does not take forcedMagneticDeclination into account.

◆ computeUTMGridConvergenceAndZone()

virtual cras::expected<std::pair<double, int>, std::string> compass_conversions::CompassConverter::computeUTMGridConvergenceAndZone	(	const sensor_msgs::NavSatFix &	fix,
		const cras::optional< int > &	utmZone
	)		const

virtual

Get the value of UTM grid convergence and UTM zone for the provided place.

Parameters

[in]	fix	The place for which grid convergence is queried.
[in]	utmZone	Optional forced UTM zone. If not specified, the default UTM zone will be used.

Returns: The UTM grid convergence in radians and corresponding UTM zone, or an error message.

Note: This function does not take forcedUTMGridConvergence into account.

◆ configFromParams()

void compass_conversions::CompassConverter::configFromParams ( const cras::BoundParamHelper & params )

Configure the compass converter from the given ROS parameters.

Parameters

[in] params ROS parameters that configure the converter.

The parameters read from params struct are:

magnetic_declination (double, radians, optional): If set, forces this value of magnetic declination.
utm_grid_convergence (double, radians, optional): If set, forces this value of UTM grid convergence.
magnetic_models_path (string, default "$PACKAGE/data/magnetic"): Path where WMM magnetic models can be found. If set to empty string, the models will be searched in a default folder of GeographicLib. Environment variables GEOGRAPHICLIB_MAGNETIC_PATH or GEOGRAPHICLIB_DATA influence the location of this folder.
magnetic_model (string, optional): If set, forces using the given WMM model instead of determining the proper one by year. Example value is "wmm2020".
utm_zone (int, optional): If set, forces using this UTM zone instead of determining the proper one.
keep_utm_zone (bool, default true): If true, the first determined UTM zone will be used for all future conversions.
initial_lat (double, degrees, optional): If set, use this latitude before the first navsat pose is received.
initial_lon (double, degrees, optional): If set, use this longitude before the first navsat pose is received.
initial_alt (double, meters, optional): If set, use this altitude before the first navsat pose is received.

◆ convertAzimuth()

virtual cras::expected<compass_msgs::Azimuth, std::string> compass_conversions::CompassConverter::convertAzimuth	(	const compass_msgs::Azimuth &	azimuth,
		decltype(compass_msgs::Azimuth::unit)	unit,
		decltype(compass_msgs::Azimuth::orientation)	orientation,
		decltype(compass_msgs::Azimuth::reference)	reference
	)		const

virtual

Convert the given compass_msgs::Azimuth message parametrized by the given unit, orientation and reference.

Parameters

[in]	azimuth	The input azimuth message.
[in]	unit	The output azimuth units.
[in]	orientation	The output azimuth orientation.
[in]	reference	The output azimuth reference.

Returns: The converted Azimuth message or an error message.

Note: To convert between different references, setNavSatPos() has to be called prior to calling this function. The declination and grid convergence of the last set navsat pose will be used.

◆ convertImuMsgEvent()

cras::expected<compass_msgs::Azimuth, std::string> compass_conversions::CompassConverter::convertImuMsgEvent	(	const ros::MessageEvent< sensor_msgs::Imu const > &	imuEvent,
		decltype(compass_msgs::Azimuth::unit)	unit = `compass_msgs::Azimuth::UNIT_RAD`,
		const cras::optional< decltype(compass_msgs::Azimuth::orientation)> &	orientation = `{}`,
		const cras::optional< decltype(compass_msgs::Azimuth::reference)> &	reference = `{}`
	)		const

Convert a received sensor_msgs::Imu message to Azimuth. If needed, extract the orientation and reference from the topic name.

Parameters

[in]	imuEvent	The input IMU message.
[in]	unit	The output azimuth units.
[in]	orientation	The declared input orientation (autodetected from topic if not specified).
[in]	reference	The declared input reference (autodetected from topic if not specified).

Returns: The converted Azimuth message or an error message.

◆ convertPoseMsgEvent()

cras::expected<compass_msgs::Azimuth, std::string> compass_conversions::CompassConverter::convertPoseMsgEvent	(	const ros::MessageEvent< geometry_msgs::PoseWithCovarianceStamped const > &	poseEvent,
		decltype(compass_msgs::Azimuth::unit)	unit = `compass_msgs::Azimuth::UNIT_RAD`,
		const cras::optional< decltype(compass_msgs::Azimuth::orientation)> &	orientation = `{}`,
		const cras::optional< decltype(compass_msgs::Azimuth::reference)> &	reference = `{}`
	)		const

Convert a received geometry_msgs::PoseWithCovarianceStamped message to Azimuth. If needed, extract the orientation and reference from the topic name.

Parameters

[in]	poseEvent	The input pose message.
[in]	unit	The output azimuth units.
[in]	orientation	The declared input orientation (autodetected from topic if not specified).
[in]	reference	The declared input reference (autodetected from topic if not specified).

Returns: The converted Azimuth message or an error message.

◆ convertQuaternion() [1/2]

virtual cras::expected<compass_msgs::Azimuth, std::string> compass_conversions::CompassConverter::convertQuaternion	(	const geometry_msgs::Quaternion &	quat,
		const std_msgs::Header &	header,
		decltype(compass_msgs::Azimuth::variance)	variance,
		decltype(compass_msgs::Azimuth::unit)	unit,
		decltype(compass_msgs::Azimuth::orientation)	orientation,
		decltype(compass_msgs::Azimuth::reference)	reference
	)		const

virtual

Convert the given geometry_msgs::Quaternion message to Azimuth parametrized by the given unit, orientation and reference.

Parameters

[in]	quat	The input quaternion message.
[in]	header	Header of the output message.
[in]	variance	Variance of the measurement (in rad^2).
[in]	unit	The output azimuth units.
[in]	orientation	The output azimuth orientation (this is just a declaration, no conversion is done).
[in]	reference	The output azimuth reference (this is just a declaration, no conversion is done).

Returns: The converted Azimuth message or an error message.

◆ convertQuaternion() [2/2]

virtual cras::expected<compass_msgs::Azimuth, std::string> compass_conversions::CompassConverter::convertQuaternion	(	const geometry_msgs::QuaternionStamped &	quat,
		decltype(compass_msgs::Azimuth::variance)	variance,
		decltype(compass_msgs::Azimuth::unit)	unit,
		decltype(compass_msgs::Azimuth::orientation)	orientation,
		decltype(compass_msgs::Azimuth::reference)	reference
	)		const

virtual

Convert the given geometry_msgs::QuaternionStamped message to Azimuth parametrized by the given unit, orientation and reference.

Parameters

[in]	quat	The input quaternion message.
[in]	variance	Variance of the measurement (in rad^2).
[in]	unit	The output azimuth units.
[in]	orientation	The output azimuth orientation (this is just a declaration, no conversion is done).
[in]	reference	The output azimuth reference (this is just a declaration, no conversion is done).

Returns: The converted Azimuth message or an error message.

◆ convertQuaternionMsgEvent()

cras::expected<compass_msgs::Azimuth, std::string> compass_conversions::CompassConverter::convertQuaternionMsgEvent	(	const ros::MessageEvent< geometry_msgs::QuaternionStamped const > &	quatEvent,
		decltype(compass_msgs::Azimuth::variance)	variance = `0`,
		decltype(compass_msgs::Azimuth::unit)	unit = `compass_msgs::Azimuth::UNIT_RAD`,
		const cras::optional< decltype(compass_msgs::Azimuth::orientation)> &	orientation = `{}`,
		const cras::optional< decltype(compass_msgs::Azimuth::reference)> &	reference = `{}`
	)		const

Convert a received geometry_msgs::QuaternionStamped message to Azimuth. If needed, extract the orientation and reference from the topic name.

Parameters

[in]	quatEvent	The input quaternion message.
[in]	variance	Variance of the measurement (in rad^2).
[in]	unit	The output azimuth units.
[in]	orientation	The declared input orientation (autodetected from topic if not specified).
[in]	reference	The declared input reference (autodetected from topic if not specified).

Returns: The converted Azimuth message or an error message.

◆ convertToImu()

virtual cras::expected<sensor_msgs::Imu, std::string> compass_conversions::CompassConverter::convertToImu ( const compass_msgs::Azimuth & azimuth ) const

virtual

Convert the given Azimuth message to sensor_msgs::Imu in the same parametrization.

Parameters

[in] azimuth The input azimuth message.

Returns: The converted sensor_msgs::Imu message or an error message.

◆ convertToPose()

virtual cras::expected<geometry_msgs::PoseWithCovarianceStamped, std::string> compass_conversions::CompassConverter::convertToPose ( const compass_msgs::Azimuth & azimuth ) const

virtual

Convert the given Azimuth message to geometry_msgs::PoseWithCovarianceStamped in the same parametrization.

Parameters

[in] azimuth The input azimuth message.

Returns: The converted geometry_msgs::PoseWithCovarianceStamped message or an error message.

◆ convertToQuaternion()

virtual cras::expected<geometry_msgs::QuaternionStamped, std::string> compass_conversions::CompassConverter::convertToQuaternion ( const compass_msgs::Azimuth & azimuth ) const

virtual

Convert the given Azimuth message to geometry_msgs::QuaternionStamped in the same parametrization.

Parameters

[in] azimuth The input azimuth message.

Returns: The converted geometry_msgs::QuaternionStamped message or an error message.

◆ convertUniversalMsgEvent()

cras::expected<compass_msgs::Azimuth, std::string> compass_conversions::CompassConverter::convertUniversalMsgEvent	(	const ros::MessageEvent< topic_tools::ShapeShifter const > &	event,
		decltype(compass_msgs::Azimuth::variance)	variance = `0`,
		decltype(compass_msgs::Azimuth::unit)	unit = `compass_msgs::Azimuth::UNIT_RAD`,
		const cras::optional< decltype(compass_msgs::Azimuth::orientation)> &	orientation = `{}`,
		const cras::optional< decltype(compass_msgs::Azimuth::reference)> &	reference = `{}`
	)		const

Convert a received message to Azimuth. If needed, extract the orientation and reference from the topic name.

Supported message types are compass_msgs::Azimuth, geometry_msgs::QuaternionStamped, geometry_msgs::PoseWithCovarianceStamped and sensor_msgs::Imu.

Parameters

[in]	event	The input message.
[in]	variance	Variance of the measurement (in rad^2) (if it isn't a part of the message).
[in]	unit	The output azimuth units.
[in]	orientation	The declared input orientation (autodetected from topic if not specified).
[in]	reference	The declared input reference (autodetected from topic if not specified).

Returns: The converted Azimuth message or an error message.

◆ forceMagneticDeclination()

virtual void compass_conversions::CompassConverter::forceMagneticDeclination ( const cras::optional< double > & declination )

virtual

Force magnetic declination instead of computing it.

Parameters

[in] declination The forced declination in rad. If nullopt, declination is set to be computed.

◆ forceMagneticModelName()

virtual void compass_conversions::CompassConverter::forceMagneticModelName ( const std::string & model )

virtual

Force using the given magnetic model instead of automatically selecting the best one.

Parameters

[in] model The name of the model to force (e.g. "wmm2020"). If empty, the best model will be autoselected.

◆ forceUTMGridConvergence()

virtual void compass_conversions::CompassConverter::forceUTMGridConvergence ( const cras::optional< double > & convergence )

virtual

Force UTM grid convergence instead of computing it.

Parameters

[in] convergence The forced convergence in rad. If nullopt, convergence is set to be computed.

◆ forceUTMZone()

virtual void compass_conversions::CompassConverter::forceUTMZone ( const cras::optional< int > & zone )

virtual

Set the UTM zone that will be used for all future UTM operations.

Parameters

[in] zone The UTM zone. If nullopt, UTM operations will use the default zone.

Note: This function sets forcedUTMZone.

◆ getMagneticDeclination()

virtual cras::expected<double, std::string> compass_conversions::CompassConverter::getMagneticDeclination ( const ros::Time & stamp ) const

virtual

Get the value of magnetic declination for the last location received by setNatSatPos().

Parameters

[in] stamp The time for which declination is queried.

Returns: The magnetic declination in radians or an error message.

Note: If forcedMagneticDeclination is set, it is returned without any adjustments.

◆ getUTMGridConvergence()

virtual cras::expected<double, std::string> compass_conversions::CompassConverter::getUTMGridConvergence ( ) const

virtual

Get the value of UTM grid convergence for the last location received by setNatSatPos().

Returns: The UTM grid convergence in radians, or an error message.

Note: If forcedUTMGridConvergence is set, it is returned without any adjustments. Otherwise, lastUTMGridConvergence is returned.; If forcedUTMZone is set, the returned grid convergence will be in this zone. Otherwise, it will be in lastUTMZone.

◆ getUTMZone()

virtual cras::expected<int, std::string> compass_conversions::CompassConverter::getUTMZone ( ) const

virtual

Get the UTM zone of the last location received by setNatSatPos().

Returns: The UTM zone, or an error message.

Note: If forcedUTMZone is set, it will be directly returned.

◆ setKeepUTMZone()

virtual void compass_conversions::CompassConverter::setKeepUTMZone ( bool keep )

virtual

Set whether UTM zone should be kept after it is first computed.

Parameters

[in] keep If true, the next call to setNavSatPos() will store the computed UTM zone to forcedUTMZone.

◆ setMagneticModelPath()

virtual void compass_conversions::CompassConverter::setMagneticModelPath ( const cras::optional< std::string > & modelPath )

virtual

Set the path where magnetic models are stored.

Parameters

[in] modelPath Path to the folder with stored models. If nullopt, the default data distributed with this package will be used. If empty string, a default system location will be used. The default system location is determined by GeographicLib and can be influenced by setting environment variables GEOGRAPHICLIB_MAGNETIC_PATH or GEOGRAPHICLIB_DATA.

◆ setNavSatPos()

virtual void compass_conversions::CompassConverter::setNavSatPos ( const sensor_msgs::NavSatFix & fix )

virtual

Callback for GNSS fix (so that the converter can compute UTM grid convergence and store the pose).

Parameters

[in] fix The fix message. Only latitude, longitude, altitude and header.stamp are relevant.

Note: This function computes lastUTMGridConvergence if forcedUTMGridConvergence is not set.; This function computes lastUTMZone if forcedUTMGridConvergence is not set.; If keepUTMZone is set and forcedUTMZone is not set, the first determined zone will be remembered in forcedUTMZone.

Member Data Documentation

◆ data

std::unique_ptr<CompassConverterPrivate> compass_conversions::CompassConverter::data

protected

PIMPL data.

Definition at line 353 of file compass_converter.h.

◆ forcedMagneticDeclination

cras::optional<double> compass_conversions::CompassConverter::forcedMagneticDeclination

protected

The user-forced magnetic declination (if set, do not compute it).

Definition at line 332 of file compass_converter.h.

◆ forcedMagneticModelName

std::string compass_conversions::CompassConverter::forcedMagneticModelName {}

protected

If the user forces a magnetic model, this is its name.

Definition at line 344 of file compass_converter.h.

◆ forcedUTMGridConvergence

cras::optional<double> compass_conversions::CompassConverter::forcedUTMGridConvergence

protected

The user-forced UTM grid convergence (if set, do not compute it).

Definition at line 335 of file compass_converter.h.

◆ forcedUTMZone

cras::optional<int> compass_conversions::CompassConverter::forcedUTMZone

protected

The user-forced UTM zone (if set, do not compute it).

Definition at line 338 of file compass_converter.h.

◆ keepUTMZone

bool compass_conversions::CompassConverter::keepUTMZone {true}

protected

If true, the first determined UTM zone will be kept for all future queries.

Definition at line 341 of file compass_converter.h.

◆ lastFix

cras::optional<sensor_msgs::NavSatFix> compass_conversions::CompassConverter::lastFix

protected

Last received GNSS fix. Used for determining magnetic declination and UTM grid convergence.

Definition at line 350 of file compass_converter.h.

◆ lastUTMGridConvergence

cras::optional<double> compass_conversions::CompassConverter::lastUTMGridConvergence

protected

UTM convergence of the last received navsat position (or the forced one).

Definition at line 326 of file compass_converter.h.

◆ lastUTMZone

cras::optional<int> compass_conversions::CompassConverter::lastUTMZone

protected

Last determined UTM zone. If empty, no zone has been determined yet.

Definition at line 329 of file compass_converter.h.

◆ strict

bool compass_conversions::CompassConverter::strict {true}

protected

If true, convertAzimuth() will fail when the magnetic model is used outside its bounds.

Definition at line 347 of file compass_converter.h.

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

compass_converter.h

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ CompassConverter()

◆ ~CompassConverter()

Member Function Documentation

◆ computeMagneticDeclination()

◆ computeUTMGridConvergenceAndZone()

◆ configFromParams()

◆ convertAzimuth()

◆ convertImuMsgEvent()

◆ convertPoseMsgEvent()

◆ convertQuaternion() [1/2]

◆ convertQuaternion() [2/2]

◆ convertQuaternionMsgEvent()

◆ convertToImu()

◆ convertToPose()

◆ convertToQuaternion()

◆ convertUniversalMsgEvent()

◆ forceMagneticDeclination()

◆ forceMagneticModelName()

◆ forceUTMGridConvergence()

◆ forceUTMZone()

◆ getMagneticDeclination()

◆ getUTMGridConvergence()

◆ getUTMZone()

◆ setKeepUTMZone()

◆ setMagneticModelPath()

◆ setNavSatPos()

Member Data Documentation

◆ data

◆ forcedMagneticDeclination

◆ forcedMagneticModelName

◆ forcedUTMGridConvergence

◆ forcedUTMZone

◆ keepUTMZone

◆ lastFix

◆ lastUTMGridConvergence

◆ lastUTMZone

◆ strict