Functions | |
double | convertAutoCovariance (double val) |
double | convertCovariance (double val) |
double | convertDMSToDegrees (double dms) |
Converts latitude or longitude from the DMS notation (in the without-colon-delimiter format), to the pure degree notation. More... | |
Eigen::Quaterniond | convertEulerToQuaternion (double roll, double pitch, double yaw) |
Transforms Euler angles to a quaternion. More... | |
QuaternionMsg | convertEulerToQuaternionMsg (double roll, double pitch, double yaw) |
Convert Eigen quaternion to a QuaternionMsg. More... | |
std::string | convertUserPeriodToRxCommand (uint32_t period_user) |
Transforms the input polling period [milliseconds] into a std::string number that can be appended to either sec or msec for Rx commands. More... | |
double | convertUTCDoubleToSeconds (double utc_double) |
Converts UTC time from the without-colon-delimiter format to the number-of-seconds-since-midnight format. More... | |
std::time_t | convertUTCtoUnix (double utc_double) |
Converts UTC time from the without-colon-delimiter format to Unix Epoch time (a number-of-seconds-since-1970/01/01 format) More... | |
template<class T > | |
T | deg2rad (T deg) |
template<class T > | |
T | deg2radSq (T deg) |
uint16_t | getCrc (const std::vector< uint8_t > &message) |
Get the CRC of the SBF message. More... | |
uint16_t | getId (const std::vector< uint8_t > &message) |
Get the ID of the SBF message. More... | |
uint16_t | getLength (const std::vector< uint8_t > &message) |
Get the length of the SBF message. More... | |
uint32_t | getTow (const std::vector< uint8_t > &message) |
Get the time of week in ms of the SBF message. More... | |
uint16_t | getWnc (const std::vector< uint8_t > &message) |
Get the GPS week counter of the SBF message. More... | |
bool | parseDouble (const std::string &string, double &value) |
Interprets the contents of "string" as a floating point number of type double. More... | |
double | parseDouble (const uint8_t *buffer) |
Converts an 8-byte-buffer into a double. More... | |
bool | parseFloat (const std::string &string, float &value) |
Interprets the contents of "string" as a floating point number of type float. More... | |
float | parseFloat (const uint8_t *buffer) |
Converts a 4-byte-buffer into a float. More... | |
bool | parseInt16 (const std::string &string, int16_t &value, int32_t base=10) |
Interprets the contents of "string" as a integer number of type int16_t. More... | |
int16_t | parseInt16 (const uint8_t *buffer) |
Converts a 2-byte-buffer into a signed 16-bit integer. More... | |
bool | parseInt32 (const std::string &string, int32_t &value, int32_t base=10) |
Interprets the contents of "string" as a integer number of type int32_t. More... | |
int32_t | parseInt32 (const uint8_t *buffer) |
Converts a 4-byte-buffer into a signed 32-bit integer. More... | |
bool | parseUInt16 (const std::string &string, uint16_t &value, int32_t base=10) |
Interprets the contents of "string" as a unsigned integer number of type uint16_t. More... | |
uint16_t | parseUInt16 (const uint8_t *buffer) |
Converts a 2-byte-buffer into an unsigned 16-bit integer. More... | |
bool | parseUInt32 (const std::string &string, uint32_t &value, int32_t base=10) |
Interprets the contents of "string" as a unsigned integer number of type uint32_t. More... | |
uint32_t | parseUInt32 (const uint8_t *buffer) |
Converts a 4-byte-buffer into an unsigned 32-bit integer. More... | |
bool | parseUInt8 (const std::string &string, uint8_t &value, int32_t base=10) |
Interprets the contents of "string" as a unsigned integer number of type uint8_t. More... | |
Eigen::Quaterniond | q_enu_ecef (double lat, double lon) |
Generates the quaternion to rotate from local ENU to ECEF. More... | |
Eigen::Quaterniond | q_ned_ecef (double lat, double lon) |
Generates the quaternion to rotate from local NED to ECEF. More... | |
QuaternionMsg | quaternionToQuaternionMsg (const Eigen::Quaterniond &q) |
Transforms Euler angles to a QuaternionMsg. More... | |
Eigen::Matrix3d | R_enu_ecef (double lat, double lon) |
Generates the matrix to rotate from local ENU to ECEF. More... | |
Eigen::Matrix3d | R_ned_ecef (double lat, double lon) |
Generates the matrix to rotate from local NED to ECEF. More... | |
template<class T > | |
T | rad2deg (T rad) |
Eigen::Matrix3d | rpyToRot (double roll, double pitch, double yaw) |
void | setQuaternionNaN (QuaternionMsg &quaternion) |
void | setVector3NaN (Vector3Msg &v) |
template<class T > | |
T | square (T val) |
double | wrapAngle180to180 (double angle) |
Wraps an angle between -180 and 180 degrees. More... | |
Variables | |
const double | pihalf = boost::math::constants::half_pi<double>() |
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Definition at line 524 of file parsing_utilities.hpp.
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Definition at line 529 of file parsing_utilities.hpp.
double parsing_utilities::convertDMSToDegrees | ( | double | dms | ) |
Converts latitude or longitude from the DMS notation (in the without-colon-delimiter format), to the pure degree notation.
Note that DMS stands for "Degrees, Minutes, Seconds".
[in] | dms | Represents latitude or longitude in the DMS notation (in the without-colon-delimiter format) |
Recall: One degree is divided into 60 minutes (of arc), and in turn one minute into 60 seconds (of arc). Use of the degrees-minutes-seconds system is also called DMS notation.
Definition at line 235 of file parsing_utilities.cpp.
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Transforms Euler angles to a quaternion.
[in] | yaw | Yaw, i.e. heading, about the z-axis [rad] |
[in] | pitch | Pitch about the new y-axis [rad] |
[in] | roll | Roll about the new y-axis [rad] |
Definition at line 326 of file parsing_utilities.hpp.
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Convert Eigen quaternion to a QuaternionMsg.
[in] | q | Eigen quaternion |
Definition at line 366 of file parsing_utilities.hpp.
std::string parsing_utilities::convertUserPeriodToRxCommand | ( | uint32_t | period_user | ) |
Transforms the input polling period [milliseconds] into a std::string number that can be appended to either sec or msec for Rx commands.
[in] | period_user | Polling period in milliseconds as specified by the ROSaic user |
Definition at line 291 of file parsing_utilities.cpp.
double parsing_utilities::convertUTCDoubleToSeconds | ( | double | utc_double | ) |
Converts UTC time from the without-colon-delimiter format to the number-of-seconds-since-midnight format.
[in] | utc_double | Rrepresents UTC time in the without-colon-delimiter format |
The UTC precision in NMEA messages is down to a tenth of a second, naturally in both the without-colon-delimiter and the number-of-seconds-since-midnight formats.
Definition at line 221 of file parsing_utilities.cpp.
time_t parsing_utilities::convertUTCtoUnix | ( | double | utc_double | ) |
Converts UTC time from the without-colon-delimiter format to Unix Epoch time (a number-of-seconds-since-1970/01/01 format)
Note that the type "std::time_t" is usually 32 bits, which also leads to the "Year 2038 Problem".
[in] | utc_double | Represents UTC time in the without-colon-delimiter format |
Time information (hours, minutes, seconds) is extracted from the given double and augmented with the date, which is taken from the current system time on the host computer (i.e. current UTC+some_shift time via time(0)). The date ambiguity is resolved by adding/subtracting a day to the current date if the host time is more than 12 hours behind/ahead the NMEA time (i.e. UTC time). Recall time(0), time(NULL): If argument is a null pointer, the parameter is not used (the function still returns the current calendar time of type time_t). Otherwise, the return value is the same as the one stored in the location pointed by the argument. Note that the function assumes that utc_double has two significant digits after the decimal point, i.e. hhmmss.ss, yet it does not round the number of seconds to the nearest unsigned integer, but instead disregards ss. This is since we use this function for the "header.stamp.sec" field of ROS messages, while "header.stamp.nsec" is taken care of separately.
Definition at line 258 of file parsing_utilities.cpp.
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Definition at line 74 of file parsing_utilities.hpp.
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Definition at line 83 of file parsing_utilities.hpp.
uint16_t parsing_utilities::getCrc | ( | const std::vector< uint8_t > & | message | ) |
Get the CRC of the SBF message.
buffer | A pointer to a buffer containing an SBF message |
Definition at line 305 of file parsing_utilities.cpp.
uint16_t parsing_utilities::getId | ( | const std::vector< uint8_t > & | message | ) |
Get the ID of the SBF message.
buffer | A pointer to a buffer containing an SBF message |
Definition at line 310 of file parsing_utilities.cpp.
uint16_t parsing_utilities::getLength | ( | const std::vector< uint8_t > & | message | ) |
Get the length of the SBF message.
buffer | A pointer to a buffer containing an SBF message |
Definition at line 320 of file parsing_utilities.cpp.
uint32_t parsing_utilities::getTow | ( | const std::vector< uint8_t > & | message | ) |
Get the time of week in ms of the SBF message.
[in] | buffer | A pointer to a buffer containing an SBF message |
Definition at line 325 of file parsing_utilities.cpp.
uint16_t parsing_utilities::getWnc | ( | const std::vector< uint8_t > & | message | ) |
Get the GPS week counter of the SBF message.
buffer | A pointer to a buffer containing an SBF message |
Definition at line 330 of file parsing_utilities.cpp.
bool parsing_utilities::parseDouble | ( | const std::string & | string, |
double & | value | ||
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Interprets the contents of "string" as a floating point number of type double.
It stores the "string"'s value in "value" and returns whether or not all went well.
[in] | string | The string whose content should be interpreted as a floating point number |
[out] | value | The double variable that should be overwritten by the floating point number found in "string" |
It checks whether an error occurred (via errno) and whether junk characters exist within "string", and returns true if the latter two tests are negative or when the string is empty, false otherwise.
Definition at line 61 of file parsing_utilities.cpp.
double parsing_utilities::parseDouble | ( | const uint8_t * | buffer | ) |
Converts an 8-byte-buffer into a double.
[in] | buffer | A pointer to a buffer containing 8 bytes of data |
Definition at line 49 of file parsing_utilities.cpp.
bool parsing_utilities::parseFloat | ( | const std::string & | string, |
float & | value | ||
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Interprets the contents of "string" as a floating point number of type float.
It stores the "string"'s value in "value" and returns whether or not all went well.
[in] | string | The string whose content should be interpreted as a floating point number |
[out] | value | The float variable that should be overwritten by the floating point number found in "string" |
It checks whether an error occurred (via errno) and whether junk characters exist within "string", and returns true if the latter two tests are negative or when the string is empty, false otherwise.
Definition at line 78 of file parsing_utilities.cpp.
float parsing_utilities::parseFloat | ( | const uint8_t * | buffer | ) |
Converts a 4-byte-buffer into a float.
[in] | buffer | A pointer to a buffer containing 4 bytes of data |
Definition at line 66 of file parsing_utilities.cpp.
bool parsing_utilities::parseInt16 | ( | const std::string & | string, |
int16_t & | value, | ||
int32_t | base = 10 |
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Interprets the contents of "string" as a integer number of type int16_t.
It stores the "string"'s value in "value" and returns whether or not all went well.
[in] | string | The string whose content should be interpreted as an integer number |
[out] | value | The int16_t variable that should be overwritten by the integer number found in "string" |
[in] | base | The numerical base of the integer in the string, default being 10 |
It checks whether an error occurred (via errno) and whether junk characters exist within "string", and returns true if the latter two tests are negative or when the string is empty, false otherwise.
Definition at line 102 of file parsing_utilities.cpp.
int16_t parsing_utilities::parseInt16 | ( | const uint8_t * | buffer | ) |
Converts a 2-byte-buffer into a signed 16-bit integer.
[in] | buffer | A pointer to a buffer containing 2 bytes of data |
The function assumes that the bytes in the buffer are already arranged with the same endianness as the local platform. It copies the elements in the range [buffer,buffer + 2) into the range beginning at reinterpret_cast<uint8_t*>(&x). Recall: data_type *var_name = reinterpret_cast <data_type *>(pointer_variable) converts the pointer type, no return type
Definition at line 90 of file parsing_utilities.cpp.
bool parsing_utilities::parseInt32 | ( | const std::string & | string, |
int32_t & | value, | ||
int32_t | base = 10 |
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Interprets the contents of "string" as a integer number of type int32_t.
It stores the "string"'s value in "value" and returns whether or not all went well.
[in] | string | The string whose content should be interpreted as an integer number |
[out] | value | The int32_t variable that should be overwritten by the integer number found in "string" |
[in] | base | The numerical base of the integer in the string, default being 10 |
It checks whether an error occurred (via errno) and whether junk characters exist within "string", and returns true if the latter two tests are negative or when the string is empty, false otherwise.
Definition at line 135 of file parsing_utilities.cpp.
int32_t parsing_utilities::parseInt32 | ( | const uint8_t * | buffer | ) |
Converts a 4-byte-buffer into a signed 32-bit integer.
[in] | buffer | A pointer to a buffer containing 4 bytes of data |
Definition at line 123 of file parsing_utilities.cpp.
bool parsing_utilities::parseUInt16 | ( | const std::string & | string, |
uint16_t & | value, | ||
int32_t | base = 10 |
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Interprets the contents of "string" as a unsigned integer number of type uint16_t.
It stores the "string"'s value in "value" and returns whether or not all went well.
[in] | string | The string whose content should be interpreted as an integer number |
[out] | value | The uint16_t variable that should be overwritten by the integer number found in "string" |
[in] | base | The numerical base of the integer in the string, default being 10 |
It checks whether an error occurred (via errno) and whether junk characters exist within "string", and returns true if the latter two tests are negative or when the string is empty, false otherwise.
Definition at line 178 of file parsing_utilities.cpp.
uint16_t parsing_utilities::parseUInt16 | ( | const uint8_t * | buffer | ) |
Converts a 2-byte-buffer into an unsigned 16-bit integer.
[in] | buffer | A pointer to a buffer containing 2 bytes of data |
Definition at line 166 of file parsing_utilities.cpp.
bool parsing_utilities::parseUInt32 | ( | const std::string & | string, |
uint32_t & | value, | ||
int32_t | base = 10 |
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Interprets the contents of "string" as a unsigned integer number of type uint32_t.
It stores the "string"'s value in "value" and returns whether or not all went well.
[in] | string | The string whose content should be interpreted as an integer number |
[out] | value | The uint32_t variable that should be overwritten by the integer number found in "string" |
[in] | base | The numerical base of the integer in the string, default being 10 |
It checks whether an error occurred (via errno) and whether junk characters exist within "string", and returns true if the latter two tests are negative or when the string is empty, false otherwise.
Definition at line 210 of file parsing_utilities.cpp.
uint32_t parsing_utilities::parseUInt32 | ( | const uint8_t * | buffer | ) |
Converts a 4-byte-buffer into an unsigned 32-bit integer.
[in] | buffer | A pointer to a buffer containing 4 bytes of data |
Definition at line 198 of file parsing_utilities.cpp.
bool parsing_utilities::parseUInt8 | ( | const std::string & | string, |
uint8_t & | value, | ||
int32_t | base = 10 |
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Interprets the contents of "string" as a unsigned integer number of type uint8_t.
It stores the "string"'s value in "value" and returns whether or not all went well.
[in] | string | The string whose content should be interpreted as an integer number |
[out] | value | The uint8_t variable that should be overwritten by the integer number found in "string" |
[in] | base | The numerical base of the integer in the string, default being 10 |
It checks whether an error occurred (via errno) and whether junk characters exist within "string", and returns true if the latter two tests are negative or when the string is empty, false otherwise.
Definition at line 146 of file parsing_utilities.cpp.
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Generates the quaternion to rotate from local ENU to ECEF.
[in] | lat | gedoetic latitude [rad] |
[in] | lon | geodetic longitude [rad] |
Definition at line 392 of file parsing_utilities.hpp.
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Generates the quaternion to rotate from local NED to ECEF.
[in] | lat | geodetic latitude [rad] |
[in] | lon | geodetic longitude [rad] |
Definition at line 408 of file parsing_utilities.hpp.
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Transforms Euler angles to a QuaternionMsg.
[in] | yaw | Yaw, i.e. heading, about the z-axis [rad] |
[in] | pitch | Pitch about the new y-axis [rad] |
[in] | roll | Roll about the new x-axis [rad] |
Definition at line 348 of file parsing_utilities.hpp.
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Generates the matrix to rotate from local ENU to ECEF.
[in] | lat | geodetic latitude [rad] |
[in] | lon | geodetic longitude [rad] |
Definition at line 424 of file parsing_utilities.hpp.
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Generates the matrix to rotate from local NED to ECEF.
[in] | lat | geodetic latitude [rad] |
[in] | lon | geodetic longitude [rad] |
Definition at line 452 of file parsing_utilities.hpp.
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Definition at line 93 of file parsing_utilities.hpp.
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Definition at line 101 of file parsing_utilities.hpp.
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Definition at line 371 of file parsing_utilities.hpp.
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Definition at line 379 of file parsing_utilities.hpp.
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Definition at line 65 of file parsing_utilities.hpp.
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Wraps an angle between -180 and 180 degrees.
[in] | angle | The angle to be wrapped |
Definition at line 122 of file parsing_utilities.hpp.
const double parsing_utilities::pihalf = boost::math::constants::half_pi<double>() |
Definition at line 59 of file parsing_utilities.hpp.