Functions
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)
	Transforms Euler angles 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)
	Convert Eigen quaternion 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)

template<class T >
T	square (T val)

double	wrapAngle180to180 (double angle)
	Wraps an angle between -180 and 180 degrees. More...

Variables
constexpr double	pi_half = boost::math::constants::pi<double>() / 2.0

const double	pihalf = boost::math::constants::pi<double>() / 2.0

Function Documentation

◆ convertDMSToDegrees()

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".

Parameters

[in] dms Represents latitude or longitude in the DMS notation (in the without-colon-delimiter format)

Returns: Represents latitude or longitude in the pure degree notation

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 242 of file parsing_utilities.cpp.

◆ convertEulerToQuaternion()

Eigen::Quaterniond parsing_utilities::convertEulerToQuaternion	(	double	roll,
		double	pitch,
		double	yaw
	)

Transforms Euler angles to a quaternion.

Parameters

[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]

Returns: quaternion

The rotational sequence convention we adopt here (and Septentrio receivers' pitch, roll, yaw definition too) is the yaw-pitch-roll sequence, i.e. the 3-2-1 sequence: The body first does yaw around the z-axis, then pitches around the new y-axis and finally rolls around the new x-axis.

Definition at line 303 of file parsing_utilities.cpp.

◆ convertEulerToQuaternionMsg()

QuaternionMsg parsing_utilities::convertEulerToQuaternionMsg	(	double	roll,
		double	pitch,
		double	yaw
	)

Transforms Euler angles to a QuaternionMsg.

Parameters

[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]

Returns: ROS message representing a quaternion

Definition at line 330 of file parsing_utilities.cpp.

◆ convertUserPeriodToRxCommand()

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.

Parameters

[in] period_user Polling period in milliseconds as specified by the ROSaic user

Returns: Number to be appended to either msec, sec or min when sending commands to the Rx

Definition at line 400 of file parsing_utilities.cpp.

◆ convertUTCDoubleToSeconds()

double parsing_utilities::convertUTCDoubleToSeconds ( double utc_double )

Converts UTC time from the without-colon-delimiter format to the number-of-seconds-since-midnight format.

Parameters

[in] utc_double Rrepresents UTC time in the without-colon-delimiter format

Returns: Represents UTC time in the number-of-seconds-since-midnight 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 228 of file parsing_utilities.cpp.

◆ convertUTCtoUnix()

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".

Parameters

[in] utc_double Represents UTC time in the without-colon-delimiter format

Returns: The time_t variable representing Unix Epoch time

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 265 of file parsing_utilities.cpp.

◆ deg2rad()

template<class T >

T parsing_utilities::deg2rad ( T deg )

inline

Definition at line 69 of file parsing_utilities.hpp.

◆ deg2radSq()

template<class T >

T parsing_utilities::deg2radSq ( T deg )

inline

Definition at line 78 of file parsing_utilities.hpp.

◆ getCrc()

uint16_t parsing_utilities::getCrc ( const std::vector< uint8_t > & message )

Get the CRC of the SBF message.

Parameters

buffer A pointer to a buffer containing an SBF message

Returns: SBF message CRC

Definition at line 414 of file parsing_utilities.cpp.

◆ getId()

uint16_t parsing_utilities::getId ( const std::vector< uint8_t > & message )

Get the ID of the SBF message.

Parameters

buffer A pointer to a buffer containing an SBF message

Returns: SBF message ID

Definition at line 419 of file parsing_utilities.cpp.

◆ getLength()

uint16_t parsing_utilities::getLength ( const std::vector< uint8_t > & message )

Get the length of the SBF message.

Parameters

buffer A pointer to a buffer containing an SBF message

Returns: SBF message length

Definition at line 429 of file parsing_utilities.cpp.

◆ getTow()

uint32_t parsing_utilities::getTow ( const std::vector< uint8_t > & message )

Get the time of week in ms of the SBF message.

Parameters

[in] buffer A pointer to a buffer containing an SBF message

Returns: SBF time of week in ms

Definition at line 434 of file parsing_utilities.cpp.

◆ getWnc()

uint16_t parsing_utilities::getWnc ( const std::vector< uint8_t > & message )

Get the GPS week counter of the SBF message.

Parameters

buffer A pointer to a buffer containing an SBF message

Returns: SBF GPS week counter

Definition at line 439 of file parsing_utilities.cpp.

◆ parseDouble() [1/2]

bool parsing_utilities::parseDouble	(	const std::string &	string,
		double &	value
	)

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.

Parameters

[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"

Returns: True if all went fine, false if not

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 68 of file parsing_utilities.cpp.

◆ parseDouble() [2/2]

double parsing_utilities::parseDouble ( const uint8_t * buffer )

Converts an 8-byte-buffer into a double.

Parameters

[in] buffer A pointer to a buffer containing 8 bytes of data

Returns: The double extracted from the data in the buffer

Definition at line 56 of file parsing_utilities.cpp.

◆ parseFloat() [1/2]

bool parsing_utilities::parseFloat	(	const std::string &	string,
		float &	value
	)

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.

Parameters

[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"

Returns: True if all went fine, false if not

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 85 of file parsing_utilities.cpp.

◆ parseFloat() [2/2]

float parsing_utilities::parseFloat ( const uint8_t * buffer )

Converts a 4-byte-buffer into a float.

Parameters

[in] buffer A pointer to a buffer containing 4 bytes of data

Returns: The float extracted from the data in the buffer

Definition at line 73 of file parsing_utilities.cpp.

◆ parseInt16() [1/2]

bool parsing_utilities::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.

It stores the "string"'s value in "value" and returns whether or not all went well.

Parameters

[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

Returns: True if all went fine, false if not

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 109 of file parsing_utilities.cpp.

◆ parseInt16() [2/2]

int16_t parsing_utilities::parseInt16 ( const uint8_t * buffer )

Converts a 2-byte-buffer into a signed 16-bit integer.

Parameters

[in] buffer A pointer to a buffer containing 2 bytes of data

Returns: The int16_t value extracted from the data in the buffer

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 97 of file parsing_utilities.cpp.

◆ parseInt32() [1/2]

bool parsing_utilities::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.

It stores the "string"'s value in "value" and returns whether or not all went well.

Parameters

[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

Returns: True if all went fine, false if not

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 142 of file parsing_utilities.cpp.

◆ parseInt32() [2/2]

int32_t parsing_utilities::parseInt32 ( const uint8_t * buffer )

Converts a 4-byte-buffer into a signed 32-bit integer.

Parameters

[in] buffer A pointer to a buffer containing 4 bytes of data

Returns: The int32_t value extracted from the data in the buffer

Definition at line 130 of file parsing_utilities.cpp.

◆ parseUInt16() [1/2]

bool parsing_utilities::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.

It stores the "string"'s value in "value" and returns whether or not all went well.

Parameters

[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

Returns: True if all went fine, false if not

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 185 of file parsing_utilities.cpp.

◆ parseUInt16() [2/2]

uint16_t parsing_utilities::parseUInt16 ( const uint8_t * buffer )

Converts a 2-byte-buffer into an unsigned 16-bit integer.

Parameters

[in] buffer A pointer to a buffer containing 2 bytes of data

Returns: The uint16_t value extracted from the data in the buffer

Definition at line 173 of file parsing_utilities.cpp.

◆ parseUInt32() [1/2]

bool parsing_utilities::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.

It stores the "string"'s value in "value" and returns whether or not all went well.

Parameters

[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

Returns: True if all went fine, false if not

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 217 of file parsing_utilities.cpp.

◆ parseUInt32() [2/2]

uint32_t parsing_utilities::parseUInt32 ( const uint8_t * buffer )

Converts a 4-byte-buffer into an unsigned 32-bit integer.

Parameters

[in] buffer A pointer to a buffer containing 4 bytes of data

Returns: The uint32_t value extracted from the data in the buffer

Definition at line 205 of file parsing_utilities.cpp.

◆ parseUInt8()

bool parsing_utilities::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.

It stores the "string"'s value in "value" and returns whether or not all went well.

Parameters

[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

Returns: True if all went fine, false if not

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 153 of file parsing_utilities.cpp.

◆ q_enu_ecef()

Eigen::Quaterniond parsing_utilities::q_enu_ecef	(	double	lat,
		double	lon
	)

Generates the quaternion to rotate from local ENU to ECEF.

Parameters

[in]	lat	gedoetic latitude [rad]
[in]	lon	geodetic longitude [rad]

Returns: quaternion

Definition at line 336 of file parsing_utilities.cpp.

◆ q_ned_ecef()

Eigen::Quaterniond parsing_utilities::q_ned_ecef	(	double	lat,
		double	lon
	)

Generates the quaternion to rotate from local NED to ECEF.

Parameters

[in]	lat	geodetic latitude [rad]
[in]	lon	geodetic longitude [rad]

Returns: rotation matrix

Definition at line 346 of file parsing_utilities.cpp.

◆ quaternionToQuaternionMsg()

QuaternionMsg parsing_utilities::quaternionToQuaternionMsg ( const Eigen::Quaterniond & q )

Convert Eigen quaternion to a QuaternionMsg.

Parameters

[in] q Eigen quaternion

Returns: ROS message representing a quaternion

Definition at line 318 of file parsing_utilities.cpp.

◆ R_enu_ecef()

Eigen::Matrix3d parsing_utilities::R_enu_ecef	(	double	lat,
		double	lon
	)

Generates the matrix to rotate from local ENU to ECEF.

Parameters

[in]	lat	geodetic latitude [rad]
[in]	lon	geodetic longitude [rad]

Returns: rotation matrix

Definition at line 356 of file parsing_utilities.cpp.

◆ R_ned_ecef()

Eigen::Matrix3d parsing_utilities::R_ned_ecef	(	double	lat,
		double	lon
	)

Generates the matrix to rotate from local NED to ECEF.

Parameters

[in]	lat	geodetic latitude [rad]
[in]	lon	geodetic longitude [rad]

Returns: rotation matrix

Definition at line 378 of file parsing_utilities.cpp.

◆ rad2deg()

template<class T >

T parsing_utilities::rad2deg ( T rad )

inline

Definition at line 88 of file parsing_utilities.hpp.

◆ rpyToRot()

Eigen::Matrix3d parsing_utilities::rpyToRot	(	double	roll,
		double	pitch,
		double	yaw
	)

inline

Definition at line 96 of file parsing_utilities.hpp.

◆ square()

template<class T >

T parsing_utilities::square ( T val )

inline

Definition at line 60 of file parsing_utilities.hpp.

◆ wrapAngle180to180()

double parsing_utilities::wrapAngle180to180 ( double angle )

Wraps an angle between -180 and 180 degrees.

Parameters

[in] angle The angle to be wrapped

Definition at line 51 of file parsing_utilities.cpp.

Variable Documentation

◆ pi_half

constexpr double parsing_utilities::pi_half = boost::math::constants::pi<double>() / 2.0

constexpr

Definition at line 54 of file parsing_utilities.hpp.

◆ pihalf

const double parsing_utilities::pihalf = boost::math::constants::pi<double>() / 2.0

Definition at line 47 of file parsing_utilities.cpp.

Functions

Variables

Function Documentation

◆ convertDMSToDegrees()

◆ convertEulerToQuaternion()

◆ convertEulerToQuaternionMsg()

◆ convertUserPeriodToRxCommand()

◆ convertUTCDoubleToSeconds()

◆ convertUTCtoUnix()

◆ deg2rad()

◆ deg2radSq()

◆ getCrc()

◆ getId()

◆ getLength()

◆ getTow()

◆ getWnc()

◆ parseDouble() [1/2]

◆ parseDouble() [2/2]

◆ parseFloat() [1/2]

◆ parseFloat() [2/2]

◆ parseInt16() [1/2]

◆ parseInt16() [2/2]

◆ parseInt32() [1/2]

◆ parseInt32() [2/2]

◆ parseUInt16() [1/2]

◆ parseUInt16() [2/2]

◆ parseUInt32() [1/2]

◆ parseUInt32() [2/2]

◆ parseUInt8()

◆ q_enu_ecef()

◆ q_ned_ecef()

◆ quaternionToQuaternionMsg()

◆ R_enu_ecef()

◆ R_ned_ecef()

◆ rad2deg()

◆ rpyToRot()

◆ square()

◆ wrapAngle180to180()

Variable Documentation

◆ pi_half

◆ pihalf