.. _program_listing_file__tmp_ws_src_ublox_ublox_gps_include_ublox_gps_hp_pos_rec_product.hpp:

Program Listing for File hp_pos_rec_product.hpp
===============================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_ublox_ublox_gps_include_ublox_gps_hp_pos_rec_product.hpp>` (``/tmp/ws/src/ublox/ublox_gps/include/ublox_gps/hp_pos_rec_product.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   #ifndef UBLOX_GPS_HP_POS_REC_PRODUCT_HPP
   #define UBLOX_GPS_HP_POS_REC_PRODUCT_HPP
   
   #include <memory>
   #include <string>
   #include <vector>
   
   #include <diagnostic_updater/diagnostic_updater.hpp>
   #include <rclcpp/rclcpp.hpp>
   #include <sensor_msgs/msg/imu.hpp>
   
   #include <ublox_msgs/msg/nav_relposned9.hpp>
   
   #include <ublox_gps/gps.hpp>
   #include <ublox_gps/hpg_ref_product.hpp>
   #include <ublox_gps/rtcm.hpp>
   
   namespace ublox_node {
   
   class HpPosRecProduct final : public virtual HpgRefProduct {
    public:
     explicit HpPosRecProduct(uint16_t nav_rate, uint16_t meas_rate, const std::string & frame_id, std::shared_ptr<diagnostic_updater::Updater> updater, std::vector<ublox_gps::Rtcm> rtcms, rclcpp::Node* node);
   
     void subscribe(std::shared_ptr<ublox_gps::Gps> gps) override;
   
    private:
   
     void callbackNavRelPosNed(const ublox_msgs::msg::NavRELPOSNED9 &m);
   
     sensor_msgs::msg::Imu imu_;
   
     ublox_msgs::msg::NavRELPOSNED9 last_rel_pos_;
   
     rclcpp::Publisher<ublox_msgs::msg::NavRELPOSNED9>::SharedPtr nav_relposned_pub_;
     rclcpp::Publisher<sensor_msgs::msg::Imu>::SharedPtr imu_pub_;
   
     std::string frame_id_;
   };
   
   }  // namespace ublox_node
   
   #endif  // UBLOX_GPS_HP_POS_REC_PRODUCT_HPP