oem7_driver_util.hpp
Go to the documentation of this file.
1 //
3 // Copyright (c) 2020 NovAtel Inc.
4 //
5 // Permission is hereby granted, free of charge, to any person obtaining a copy
6 // of this software and associated documentation files (the "Software"), to deal
7 // in the Software without restriction, including without limitation the rights
8 // to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
9 // copies of the Software, and to permit persons to whom the Software is
10 // furnished to do so, subject to the following conditions:
11 //
12 // The above copyright notice and this permission notice shall be included in all
13 // copies or substantial portions of the Software.
14 //
15 // THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
16 // IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
17 // FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
18 // AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
19 // LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
20 // OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
21 // SOFTWARE.
22 //
24 
25 #include <stdint.h>
26 #include "novatel_oem7_msgs/Oem7Header.h"
27 
28 
29 namespace novatel_oem7_driver
30 {
31  /*** Converts GSP time to Milliseconds
32  * @return milliseconds
33  */
34  static inline int64_t GPSTimeToMsec(uint32_t gps_week_no, uint32_t week_msec)
35  {
36  static const int64_t GPS_MSEC_IN_WEEK = 7 * 24 * 60 * 60 * 1000;
37  return GPS_MSEC_IN_WEEK * gps_week_no + week_msec;
38  }
39 
40  /***
41  * Covers GPSTime obtained from header to milliseconds.
42  * @return milliseconds
43  */
44  static inline int64_t GPSTimeToMsec(const novatel_oem7_msgs::Oem7Header& hdr)
45  {
46  return GPSTimeToMsec(hdr.gps_week_number, hdr.gps_week_milliseconds);
47  }
48 }
static int64_t GPSTimeToMsec(uint32_t gps_week_no, uint32_t week_msec)


novatel_oem7_driver
Author(s):
autogenerated on Tue Mar 9 2021 03:48:00