heading2.h
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00001 // *****************************************************************************
00002 //
00003 // Copyright (c) 2017, Southwest Research Institute® (SwRI®)
00004 // All rights reserved.
00005 //
00006 // Redistribution and use in source and binary forms, with or without
00007 // modification, are permitted provided that the following conditions are met:
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00009 //       notice, this list of conditions and the following disclaimer.
00010 //     * Redistributions in binary form must reproduce the above copyright
00011 //       notice, this list of conditions and the following disclaimer in the
00012 //       documentation and/or other materials provided with the distribution.
00013 //     * Neither the name of Southwest Research Institute® (SwRI®) nor the
00014 //       names of its contributors may be used to endorse or promote products
00015 //       derived from this software without specific prior written permission.
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00017 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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00028 // *****************************************************************************
00029 
00030 #ifndef NOVATEL_GPS_DRIVER_HEADING2_H
00031 #define NOVATEL_GPS_DRIVER_HEADING2_H
00032 
00033 #include <novatel_gps_msgs/NovatelHeading2.h>
00034 
00035 #include <novatel_gps_driver/parsers/parsing_utils.h>
00036 #include <novatel_gps_driver/parsers/message_parser.h>
00037 
00038 namespace novatel_gps_driver
00039 {
00040   class Heading2Parser : public MessageParser<novatel_gps_msgs::NovatelHeading2Ptr>
00041   {
00042   public:
00043     uint32_t GetMessageId() const override;
00044 
00045     const std::string GetMessageName() const override;
00046 
00047     novatel_gps_msgs::NovatelHeading2Ptr ParseBinary(const BinaryMessage& bin_msg) throw(ParseException) override;
00048 
00049     novatel_gps_msgs::NovatelHeading2Ptr ParseAscii(const NovatelSentence& sentence) throw(ParseException) override;
00050 
00051     static constexpr uint16_t MESSAGE_ID = 1335;
00052     static constexpr size_t BINARY_LENGTH = 48;
00053     static constexpr size_t ASCII_LENGTH = 18;
00054     static const std::string MESSAGE_NAME;
00055 
00056   private:
00057     /*
00058      * @brief Converts a Solution Source byte mask to the format used in the NovatelHeading2 ros message
00059      *
00060      * ParseException thrown if source_mask cannot be parsed
00061      * @param[in] source_mask The byte to parse
00062      * @return NovatelHeading2.solution_source enum value
00063      */
00064     uint8_t SolutionSourceToMsgEnum(uint8_t source_mask) throw(ParseException);
00065   };
00066 }
00067 
00068 #endif //NOVATEL_GPS_DRIVER_HEADING2_H


novatel_gps_driver
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autogenerated on Wed Jul 3 2019 19:40:37