corrimudata.cpp
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29 
32 #include <boost/make_shared.hpp>
33 
34 const std::string novatel_gps_driver::CorrImuDataParser::MESSAGE_NAME = "CORRIMUDATA";
35 
37 {
38  return MESSAGE_ID;
39 }
40 
42 {
43  return MESSAGE_NAME;
44 }
45 
46 novatel_gps_msgs::NovatelCorrectedImuDataPtr
48 {
49  if (bin_msg.data_.size() != BINARY_LENGTH)
50  {
51  std::stringstream error;
52  error << "Unexpected corrimudata message size: " << bin_msg.data_.size();
53  throw ParseException(error.str());
54  }
55  novatel_gps_msgs::NovatelCorrectedImuDataPtr ros_msg = boost::make_shared<novatel_gps_msgs::NovatelCorrectedImuData>();
56  HeaderParser h_parser;
57  ros_msg->novatel_msg_header = h_parser.ParseBinary(bin_msg);
58  ros_msg->novatel_msg_header.message_name = "CORRIMUDATA";
59 
60  ros_msg->gps_week_num = ParseUInt32(&bin_msg.data_[0]);
61  ros_msg->gps_seconds = ParseDouble(&bin_msg.data_[4]);
62  ros_msg->pitch_rate = ParseDouble(&bin_msg.data_[12]);
63  ros_msg->roll_rate = ParseDouble(&bin_msg.data_[20]);
64  ros_msg->yaw_rate = ParseDouble(&bin_msg.data_[28]);
65  ros_msg->lateral_acceleration = ParseDouble(&bin_msg.data_[36]);
66  ros_msg->longitudinal_acceleration = ParseDouble(&bin_msg.data_[44]);
67  ros_msg->vertical_acceleration = ParseDouble(&bin_msg.data_[52]);
68 
69  return ros_msg;
70 }
71 
72 novatel_gps_msgs::NovatelCorrectedImuDataPtr
74 {
75  if (sentence.body.size() != ASCII_FIELDS)
76  {
77  std::stringstream error;
78  error << "Unexpected number of fields in CORRIMUDATA log: " << sentence.body.size();
79  throw ParseException(error.str());
80  }
81  novatel_gps_msgs::NovatelCorrectedImuDataPtr msg = boost::make_shared<novatel_gps_msgs::NovatelCorrectedImuData>();
82  HeaderParser h_parser;
83  msg->novatel_msg_header = h_parser.ParseAscii(sentence);
84 
85  bool valid = true;
86 
87  valid &= ParseUInt32(sentence.body[0], msg->gps_week_num);
88  valid &= ParseDouble(sentence.body[1], msg->gps_seconds);
89  valid &= ParseDouble(sentence.body[2], msg->pitch_rate);
90  valid &= ParseDouble(sentence.body[3], msg->roll_rate);
91  valid &= ParseDouble(sentence.body[4], msg->yaw_rate);
92  valid &= ParseDouble(sentence.body[5], msg->lateral_acceleration);
93  valid &= ParseDouble(sentence.body[6], msg->longitudinal_acceleration);
94  valid &= ParseDouble(sentence.body[7], msg->vertical_acceleration);
95 
96  if (!valid)
97  {
98  throw ParseException("Error parsing CORRIMUDATA log.");
99  }
100 
101  return msg;
102 }
msg
static constexpr size_t ASCII_FIELDS
Definition: corrimudata.h:51
uint32_t GetMessageId() const override
Definition: corrimudata.cpp:36
static constexpr size_t BINARY_LENGTH
Definition: corrimudata.h:50
static constexpr uint16_t MESSAGE_ID
Definition: corrimudata.h:49
novatel_gps_msgs::NovatelMessageHeader ParseAscii(const NovatelSentence &sentence) noexcept(false) override
Converts sentence into a ROS message pointer and returns it.
Definition: header.cpp:103
double ParseDouble(const uint8_t *buffer)
Converts a buffer containing 8 bytes into a double.
static const std::string MESSAGE_NAME
Definition: corrimudata.h:52
uint32_t ParseUInt32(const uint8_t *buffer)
Converts a buffer containing 4 bytes into an unsigned 32-bit int.
const std::string GetMessageName() const override
Definition: corrimudata.cpp:41
novatel_gps_msgs::NovatelMessageHeader ParseBinary(const BinaryMessage &bin_msg) noexcept(false) override
Converts bin_msg into a ROS message pointer and returns it.
Definition: header.cpp:44
novatel_gps_msgs::NovatelCorrectedImuDataPtr ParseAscii(const NovatelSentence &sentence) noexcept(false) override
Converts sentence into a ROS message pointer and returns it.
Definition: corrimudata.cpp:73
novatel_gps_msgs::NovatelCorrectedImuDataPtr ParseBinary(const BinaryMessage &bin_msg) noexcept(false) override
Converts bin_msg into a ROS message pointer and returns it.
Definition: corrimudata.cpp:47


novatel_gps_driver
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autogenerated on Thu Jul 16 2020 03:17:30