Program Listing for File ubx_nav_velned.hpp
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// 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_