.. _program_listing_file__tmp_ws_src_ublox_dgnss_ublox_dgnss_node_include_ublox_dgnss_node_ubx_nav_ubx_nav_velned.hpp:

Program Listing for File ubx_nav_velned.hpp
===========================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_ublox_dgnss_ublox_dgnss_node_include_ublox_dgnss_node_ubx_nav_ubx_nav_velned.hpp>` (``/tmp/ws/src/ublox_dgnss/ublox_dgnss_node/include/ublox_dgnss_node/ubx/nav/ubx_nav_velned.hpp``)

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

.. code-block:: cpp

   // Copyright 2021 Australian Robotics Supplies & Technology
   //
   // Licensed under the Apache License, Version 2.0 (the "License");
   // you may not use this file except in compliance with the License.
   // You may obtain a copy of the License at
   //
   //     http://www.apache.org/licenses/LICENSE-2.0
   //
   // Unless required by applicable law or agreed to in writing, software
   // distributed under the License is distributed on an "AS IS" BASIS,
   // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   // See the License for the specific language governing permissions and
   // limitations under the License.
   
   #ifndef UBLOX_DGNSS_NODE__UBX__NAV__UBX_NAV_VELNED_HPP_
   #define UBLOX_DGNSS_NODE__UBX__NAV__UBX_NAV_VELNED_HPP_
   
   #include <unistd.h>
   #include <memory>
   #include <tuple>
   #include <string>
   #include "ublox_dgnss_node/ubx/ubx.hpp"
   #include "ublox_dgnss_node/ubx/utils.hpp"
   
   namespace ubx::nav::velned
   {
   
   class NavVelNEDPayload : UBXPayload
   {
   public:
     static const msg_class_t MSG_CLASS = UBX_NAV;
     static const msg_id_t MSG_ID = UBX_NAV_VELNED;
   
     u4_t iTOW;      // ms - GPS Time of week of the navigation epoch.
     i4_t velN;     // cm/s - NED north velocity
     i4_t velE;     // cm/s - NED east velocity
     i4_t velD;     // cm/s - NED down velocity
     u4_t speed;     // cm/s - speed (3-D)
     u4_t gSpeed;     // cm/s - ground speed (2-D)
     i4_t heading;     // deg scale ie-5 - heading of motion (2-D)
     u4_t sAcc;     // cm/s - speed accuracy estimate
     u4_t cAcc;     // deg scale ie-5 - course/heading accruracy estime (both motion and vehicle)
   
   public:
     NavVelNEDPayload()
     : UBXPayload(MSG_CLASS, MSG_ID)
     {
     }
     NavVelNEDPayload(ch_t * payload_polled, u2_t size)
     : UBXPayload(MSG_CLASS, MSG_ID)
     {
       payload_.clear();
       payload_.reserve(size);
       payload_.resize(size);
       memcpy(payload_.data(), payload_polled, size);
       iTOW = buf_offset<u4_t>(&payload_, 0);
       velN = buf_offset<i4_t>(&payload_, 4);
       velE = buf_offset<i4_t>(&payload_, 8);
       velD = buf_offset<i4_t>(&payload_, 12);
       speed = buf_offset<i4_t>(&payload_, 16);
       gSpeed = buf_offset<i4_t>(&payload_, 20);
       heading = buf_offset<i4_t>(&payload_, 24);
       sAcc = buf_offset<u4_t>(&payload_, 28);
       cAcc = buf_offset<u4_t>(&payload_, 32);
     }
     std::tuple<u1_t *, size_t> make_poll_payload()
     {
       payload_.clear();
       return std::make_tuple(payload_.data(), payload_.size());
     }
     std::string to_string()
     {
       std::ostringstream oss;
       oss << std::fixed;
       oss << "iTOW: " << iTOW;
       oss << " velN: " << +velN;
       oss << " velE: " << +velE;
       oss << " velD: " << +velD;
       oss << " speed: " << +speed;
       oss << " gSpeed: " << +gSpeed;
       oss << std::setprecision(5);
       oss << " heading: " << +heading * 1e-5;
       oss << std::setprecision(0);
       oss << " sAcc: " << +sAcc;
       oss << std::setprecision(5);
       oss << " cAcc: " << +cAcc * 1e-5;
   
       return oss.str();
     }
   };
   }  // namespace ubx::nav::velned
   #endif  // UBLOX_DGNSS_NODE__UBX__NAV__UBX_NAV_VELNED_HPP_