.. _program_listing_file__tmp_ws_src_ublox_ublox_gps_include_ublox_gps_raw_data_product.hpp:

Program Listing for File raw_data_product.hpp
=============================================

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

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

.. code-block:: cpp

   #ifndef UBLOX_GPS_RAW_DATA_PRODUCT_HPP
   #define UBLOX_GPS_RAW_DATA_PRODUCT_HPP
   
   #include <memory>
   #include <vector>
   
   #include <diagnostic_updater/diagnostic_updater.hpp>
   #include <rclcpp/rclcpp.hpp>
   
   #include <ublox_msgs/msg/rxm_alm.hpp>
   #include <ublox_msgs/msg/rxm_eph.hpp>
   #include <ublox_msgs/msg/rxm_raw.hpp>
   #include <ublox_msgs/msg/rxm_sfrb.hpp>
   
   #include <ublox_gps/component_interface.hpp>
   #include <ublox_gps/gps.hpp>
   #include <ublox_gps/ublox_topic_diagnostic.hpp>
   
   namespace ublox_node {
   
   class RawDataProduct final : public virtual ComponentInterface {
    public:
     const double kRtcmFreqTol = 0.15;
     const int kRtcmFreqWindow = 25;
   
     explicit RawDataProduct(uint16_t nav_rate, uint16_t meas_rate, std::shared_ptr<diagnostic_updater::Updater> updater, rclcpp::Node* node);
   
     void getRosParams() override {}
   
     bool configureUblox(std::shared_ptr<ublox_gps::Gps> gps) override {
       (void)gps;
       return true;
     }
   
     void initializeRosDiagnostics() override;
   
     void subscribe(std::shared_ptr<ublox_gps::Gps> gps) override;
   
    private:
     std::vector<std::shared_ptr<UbloxTopicDiagnostic> > freq_diagnostics_;
   
     rclcpp::Publisher<ublox_msgs::msg::RxmRAW>::SharedPtr rxm_raw_pub_;
     rclcpp::Publisher<ublox_msgs::msg::RxmSFRB>::SharedPtr rxm_sfrb_pub_;
     rclcpp::Publisher<ublox_msgs::msg::RxmEPH>::SharedPtr rxm_eph_pub_;
     rclcpp::Publisher<ublox_msgs::msg::RxmALM>::SharedPtr rxm_alm_pub_;
   
     uint16_t nav_rate_;
     uint16_t meas_rate_;
     std::shared_ptr<diagnostic_updater::Updater> updater_;
     rclcpp::Node* node_;
   };
   
   }  // namespace ublox_node
   
   #endif  // UBLOX_GPS_RAW_DATA_PRODUCT_HPP