.. _program_listing_file__tmp_ws_src_ublox_dgnss_ublox_dgnss_node_include_ublox_dgnss_node_ubx_nav_ubx_nav_dop.hpp:

Program Listing for File ubx_nav_dop.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_dop.hpp>` (``/tmp/ws/src/ublox_dgnss/ublox_dgnss_node/include/ublox_dgnss_node/ubx/nav/ubx_nav_dop.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_DOP_HPP_
   #define UBLOX_DGNSS_NODE__UBX__NAV__UBX_NAV_DOP_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::dop
   {
   class NavDOPPayload : UBXPayload
   {
   public:
     static const msg_class_t MSG_CLASS = UBX_NAV;
     static const msg_id_t MSG_ID = UBX_NAV_DOP;
   
     u4_t iTOW;     // ms - GPS Time of week of the navigation epoch.
     u2_t gDOP;     // 0.01 - Geometric DOP
     u2_t pDOP;     // 0.01 - Position DOP
     u2_t tDOP;     // 0.01 - Time DOP
     u2_t vDOP;     // 0.01 - Vertical DOP
     u2_t hDOP;     // 0.01 - Horizontal DOP
     u2_t nDOP;     // 0.01 - Northing DOP
     u2_t eDOP;     // 0.01 - Easting DOP
   
   public:
     NavDOPPayload()
     : UBXPayload(MSG_CLASS, MSG_ID)
     {
     }
     NavDOPPayload(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);
       gDOP = buf_offset<i4_t>(&payload_, 4);
       pDOP = buf_offset<i4_t>(&payload_, 6);
       tDOP = buf_offset<i4_t>(&payload_, 8);
       vDOP = buf_offset<i4_t>(&payload_, 10);
       hDOP = buf_offset<i4_t>(&payload_, 12);
       nDOP = buf_offset<i4_t>(&payload_, 14);
       eDOP = buf_offset<i4_t>(&payload_, 16);
     }
     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 << "iTOW: " << iTOW;
       oss << std::setprecision(2);
       oss << " gDOP: " << +gDOP * 0.01;
       oss << " pDOP: " << +pDOP * 0.01;
       oss << " tDOP: " << +tDOP * 0.01;
       oss << " vDOP: " << +vDOP * 0.01;
       oss << " hDOP: " << +hDOP * 0.01;
       oss << " nDOP: " << +nDOP * 0.01;
       oss << " eDOP: " << +eDOP * 0.01;
       return oss.str();
     }
   };
   }  // namespace ubx::nav::dop
   #endif  // UBLOX_DGNSS_NODE__UBX__NAV__UBX_NAV_DOP_HPP_