Classes
struct	UnixEpoch
	UNIX epoch (1 Jan 1970) represented in gnsstk CommonTime means. Static values for efficient computations. More...

Functions
gnsstk::Position	convert (const geographic_msgs::GeoPoint &position)
	Convert the ROS GeoPoint message to gnsstk Position with Geodetic type. More...

gnsstk::Position	convert (const geometry_msgs::Point &position)
	Convert the ROS Point ECEF position to gnsstk Position with Cartesian type. More...

ros::Time	convert (const gnsstk::CommonTime &commonTime)
	Convert the given gnsstk time to ROS time. More...

gnss_info_msgs::SatellitePosition	convert (const gnsstk::Xvt &xvt, uint32_t satcatId, double posCov, double velCov)
	Convert the given position and velocity to ROS SatellitePosition message. More...

gnsstk::CommonTime	convert (const ros::Time &rosTime)
	Covnert the given ROS time to gnsstk time. More...

geometry_msgs::Point	convertToCartesianMsg (const gnsstk::Position &position)
	Convert the given gnsstk Position object to ECEF ROS Point message. More...

geographic_msgs::GeoPoint	convertToGeographicMsg (const gnsstk::Position &position)
	Convert the given gnsstk Position object to WGS84 ROS GeoPoint message. More...

long	getDays (const gnsstk::CommonTime &time)
	Get the number of days stored in the given time object. More...

cras::optional< std::string >	getRosConstellationFromPRN (const std::string &prn)
	Get constellation name from the given PRN string like E03. More...

cras::optional< std::string >	getRosConstellationFromSVN (const std::string &svn)
	Get constellation name from the given SVN string like E203. More...

cras::optional< std::string >	gnsstkSatelliteSystemRosConstellation (const gnsstk::SatelliteSystem &constellation)
	Convert the gnsstk constellation enum to gnss_info_msgs constellation string. More...

cras::optional< std::string >	prnIntToString (int32_t prn, const std::string &constellation)
	Convert the given numeric PRN and constellation to string PRN like E03. More...

cras::optional< std::pair< int32_t, std::string > >	prnStringToInt (const std::string &prn)
	Convert the given PRN string like E03 to integer like 3 and constellation name. More...

cras::optional< gnsstk::SatelliteSystem >	rosConstellationToGnsstkSatelliteSystem (const std::string &constellation)
	Convert the gnss_info_msgs constellation string to gnsstk constellation enum. More...

cras::optional< gnsstk::SatID >	satelliteInfoToSatID (const gnss_info_msgs::SatelliteInfo &info)
	Convert the given satellite info to non-wildcard gnsstk SatID. More...

Function Documentation

◆ convert() [1/5]

gnsstk::Position gnsstk_ros::convert ( const geographic_msgs::GeoPoint & position )

Convert the ROS GeoPoint message to gnsstk Position with Geodetic type.

Parameters

[in] position The WGS84 position to convert.

Returns: The corresponding gnsstk position object.

Definition at line 13 of file position.cpp.

◆ convert() [2/5]

gnsstk::Position gnsstk_ros::convert ( const geometry_msgs::Point & position )

Convert the ROS Point ECEF position to gnsstk Position with Cartesian type.

Parameters

[in] position The ECEF position to convert.

Returns: The corresponding gnsstk position object.

Definition at line 29 of file position.cpp.

◆ convert() [3/5]

ros::Time gnsstk_ros::convert ( const gnsstk::CommonTime & commonTime )

Convert the given gnsstk time to ROS time.

Parameters

[in] commonTime The time to convert.

Returns: The equivalent ROS time.

Exceptions

std::runtime_error If the time cannot be represented in ROS.

Definition at line 28 of file time.cpp.

◆ convert() [4/5]

gnss_info_msgs::SatellitePosition gnsstk_ros::convert	(	const gnsstk::Xvt &	xvt,
		uint32_t	satcatId,
		double	posCov,
		double	velCov
	)

Convert the given position and velocity to ROS SatellitePosition message.

Parameters

[in]	xvt	The position and velocity as determined by gnsstk.
[in]	satcatId	ID of the satellite in the satellite catalog.
[in]	posCov	Position covariance to fill on the diagonal.
[in]	velCov	Velocity covariance to fill on the diagonal.

Returns: The ROS SatellitePosition message corresponding to the given parameter.

Definition at line 45 of file position.cpp.

◆ convert() [5/5]

gnsstk::CommonTime gnsstk_ros::convert ( const ros::Time & rosTime )

Covnert the given ROS time to gnsstk time.

Parameters

[in] rosTime The ROS time to convert.

Returns: The equivalent gnsstk time.

Definition at line 44 of file time.cpp.

◆ convertToCartesianMsg()

geometry_msgs::Point gnsstk_ros::convertToCartesianMsg ( const gnsstk::Position & position )

Convert the given gnsstk Position object to ECEF ROS Point message.

Parameters

[in] position The gnsstk position to convert.

Returns: The corresponding ROS Point in ECEF coordinates.

Definition at line 34 of file position.cpp.

◆ convertToGeographicMsg()

geographic_msgs::GeoPoint gnsstk_ros::convertToGeographicMsg ( const gnsstk::Position & position )

Convert the given gnsstk Position object to WGS84 ROS GeoPoint message.

Parameters

[in] position The gnsstk position to convert.

Returns: The corresponding ROS GeoPoint.

Definition at line 18 of file position.cpp.

◆ getDays()

long gnsstk_ros::getDays ( const gnsstk::CommonTime & time )

Get the number of days stored in the given time object.

Parameters

[in] time The time to get days of.

Returns: The number of days.

Definition at line 20 of file time.cpp.

◆ getRosConstellationFromPRN()

cras::optional< std::string > gnsstk_ros::getRosConstellationFromPRN ( const std::string & prn )

Get constellation name from the given PRN string like E03.

Parameters

[in] prn String PRN.

Returns: Constellation name (one of gnss_info_msgs::Enums::CONSTELLATION_* values). If invalid, nullopt.

Definition at line 18 of file constellations.cpp.

◆ getRosConstellationFromSVN()

cras::optional< std::string > gnsstk_ros::getRosConstellationFromSVN ( const std::string & svn )

Get constellation name from the given SVN string like E203.

Parameters

[in] svn The SVN of the satellite.

Returns: Constellation name (one of gnss_info_msgs::Enums::CONSTELLATION_* values). If invalid, nullopt.

Definition at line 42 of file constellations.cpp.

◆ gnsstkSatelliteSystemRosConstellation()

cras::optional< std::string > gnsstk_ros::gnsstkSatelliteSystemRosConstellation ( const gnsstk::SatelliteSystem & constellation )

Convert the gnsstk constellation enum to gnss_info_msgs constellation string.

Parameters

constellation The gnsstk constellation enum value.

Returns: The equivalent gnss_info_msgs::Enums::CONSTELLATION_*. Return nullopt if there is no mapping.

Definition at line 113 of file constellations.cpp.

◆ prnIntToString()

cras::optional< std::string > gnsstk_ros::prnIntToString	(	int32_t	prn,
		const std::string &	constellation
	)

Convert the given numeric PRN and constellation to string PRN like E03.

Parameters

[in]	prn	The numeric PRN.
[in]	constellation	Constellation name (one of `gnss_info_msgs::Enums::CONSTELLATION_*` values).

Returns: The PRN string.

Definition at line 72 of file constellations.cpp.

◆ prnStringToInt()

cras::optional< std::pair< int32_t, std::string > > gnsstk_ros::prnStringToInt ( const std::string & prn )

Convert the given PRN string like E03 to integer like 3 and constellation name.

Parameters

[in] prn The PRN string.

Returns: A pair containing the numeric PRN and constellation name.

Definition at line 48 of file constellations.cpp.

◆ rosConstellationToGnsstkSatelliteSystem()

cras::optional< gnsstk::SatelliteSystem > gnsstk_ros::rosConstellationToGnsstkSatelliteSystem ( const std::string & constellation )

Convert the gnss_info_msgs constellation string to gnsstk constellation enum.

Parameters

[in] constellation The constellation string. One of gnss_info_msgs::Enums::CONSTELLATION_*.

Returns: The equivalent gnsstk constellation. Return Unknown if there is no mapping. Return nullopt if constellation is empty.

Definition at line 94 of file constellations.cpp.

◆ satelliteInfoToSatID()

cras::optional< gnsstk::SatID > gnsstk_ros::satelliteInfoToSatID ( const gnss_info_msgs::SatelliteInfo & info )

Convert the given satellite info to non-wildcard gnsstk SatID.

Parameters

info	Information about the satellite.

Returns: The SatID object of the given satellite. nullopt if identifying the satellite is not possible.

Definition at line 134 of file constellations.cpp.

Classes

Functions

Function Documentation

◆ convert() [1/5]

◆ convert() [2/5]

◆ convert() [3/5]

◆ convert() [4/5]

◆ convert() [5/5]

◆ convertToCartesianMsg()

◆ convertToGeographicMsg()

◆ getDays()

◆ getRosConstellationFromPRN()

◆ getRosConstellationFromSVN()

◆ gnsstkSatelliteSystemRosConstellation()

◆ prnIntToString()

◆ prnStringToInt()

◆ rosConstellationToGnsstkSatelliteSystem()

◆ satelliteInfoToSatID()