mrpt_bridge::GPS Namespace Reference

Functions
bool	mrpt2ros (const CObservationGPS &obj, const std_msgs::Header &msg_header, sensor_msgs::NavSatFix &msg)
bool	ros2mrpt (const sensor_msgs::NavSatFix &msg, CObservationGPS &obj)

Function Documentation

mrpt2ros()

bool mrpt_bridge::GPS::mrpt2ros	(	const CObservationGPS &	obj,
		const std_msgs::Header &	msg_header,
		sensor_msgs::NavSatFix &	msg
	)

Convert mrpt::obs::CObservationGPS -> sensor_msgs/NavSatFix The user must supply the "msg_header" field to be copied into the output message object, since that part does not appear in MRPT classes.

Since COnservationGPS does not contain "position_covariance" and "position_covariance_type" sensor_msgs::NavSatFix::position_covariance_type and sensor_msgs::NavSatFix::position_covariance will be empty.

Returns

true on sucessful conversion, false on any error.

following parameter assigned as per http://mrpt.ual.es/reference/devel/structmrpt_1_1obs_1_1gnss_1_1_message___n_m_e_a___g_g_a_1_1content__t.html#a33415dc947663d43015605c41b0f66cb http://mrpt.ual.es/reference/devel/gnss__messages__ascii__nmea_8h_source.html

position_covariance is not available in mrpt position_covariance type is not available in mrpt

Definition at line 54 of file GPS.cpp.

ros2mrpt()

bool mrpt_bridge::GPS::ros2mrpt	(	const sensor_msgs::NavSatFix &	msg,
		CObservationGPS &	obj
	)

Convert sensor_msgs/NavSatFix -> mrpt::obs::CObservationGPS

Returns

true on sucessful conversion, false on any error.

Definition at line 23 of file GPS.cpp.