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xsgpspvtdata.h
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1 /* +---------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | http://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file |
6  | See: http://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See details in http://www.mrpt.org/License |
8  +---------------------------------------------------------------------------+ */
9 #ifndef XSGPSPVTDATA_H
10 #define XSGPSPVTDATA_H
11 
12 #include "xstypesconfig.h"
13 #include "pstdint.h"
14 
15 #ifdef __cplusplus
16 extern "C" {
17 #else
18 #define XSGPSPVTDATA_INITIALIZER { 0,255,0,0,0,0,0,0,0,0,0,0,255 }
19 #endif
20 
21 struct XsGpsPvtData;
22 
24 XSTYPES_DLL_API int XsGpsPvtData_empty(const struct XsGpsPvtData* thisPtr);
25 
26 #ifdef __cplusplus
27 } // extern "C"
28 #endif
29 
30 
31 /*! \brief Data from the GPS unit of a legacy MTi-G.*/
32 struct XsGpsPvtData {
33  uint16_t m_pressure; //!< The pressure measurement in units of 2 Pascal, only valid if m_pressureAge is not 255
34  uint8_t m_pressureAge; //!< The age of the pressure measurement in packets. When it decreases relative to the previous packet, it indicates that new data is available.
35  uint32_t m_itow; //!< Integer time of week in ms
36  int32_t m_latitude; //!< Latitude in 1e-7 degrees
37  int32_t m_longitude; //!< Longitude in 1e-7 degrees
38  int32_t m_height; //!< Height in mm
39  int32_t m_veln; //!< Velocity towards north in cm/s
40  int32_t m_vele; //!< Velocity towards east in cm/s
41  int32_t m_veld; //!< Velocity towards down in cm/s
42  uint32_t m_hacc; //!< Horizontal accuracy estimate, expected error standard deviation in mm
43  uint32_t m_vacc; //!< Vertical accuracy estimate, expected error standard deviation in mm
44  uint32_t m_sacc; //!< Speed accuracy estimate, expected error standard deviation in cm/s
45  uint8_t m_gpsAge; //!< The age of the GPS measurement in packets. When it decreases relative to the previous packet, it indicates that new data is available.
46 
47 #ifdef __cplusplus
48  /*! \brief \copybrief XsGpsPvtData_destruct */
49  inline void clear()
50  {
52  }
53 
54  /*! \brief \copybrief XsGpsPvtData_empty */
55  inline bool empty() const
56  {
57  return 0 != XsGpsPvtData_empty(this);
58  }
59 #endif
60 };
61 
62 typedef struct XsGpsPvtData XsGpsPvtData;
63 
64 #endif // file guard
uint32_t m_vacc
Vertical accuracy estimate, expected error standard deviation in mm.
Definition: xsgpspvtdata.h:43
EIGEN_STRONG_INLINE bool empty() const
unsigned __int16 uint16_t
Definition: rptypes.h:46
int32_t m_vele
Velocity towards east in cm/s.
Definition: xsgpspvtdata.h:40
uint8_t m_pressureAge
The age of the pressure measurement in packets. When it decreases relative to the previous packet...
Definition: xsgpspvtdata.h:34
void clear()
Clear the contents of this container.
Definition: ts_hash_map.h:113
int32_t m_latitude
Latitude in 1e-7 degrees.
Definition: xsgpspvtdata.h:36
XSTYPES_DLL_API void XsGpsPvtData_destruct(struct XsGpsPvtData *thisPtr)
unsigned char uint8_t
Definition: rptypes.h:43
uint32_t m_sacc
Speed accuracy estimate, expected error standard deviation in cm/s.
Definition: xsgpspvtdata.h:44
uint8_t m_gpsAge
The age of the GPS measurement in packets. When it decreases relative to the previous packet...
Definition: xsgpspvtdata.h:45
uint32_t m_itow
Integer time of week in ms.
Definition: xsgpspvtdata.h:35
#define XSTYPES_DLL_API
Definition: xstypesconfig.h:9
XSTYPES_DLL_API int XsGpsPvtData_empty(const struct XsGpsPvtData *thisPtr)
int32_t m_veln
Velocity towards north in cm/s.
Definition: xsgpspvtdata.h:39
__int32 int32_t
Definition: rptypes.h:48
uint16_t m_pressure
The pressure measurement in units of 2 Pascal, only valid if m_pressureAge is not 255...
Definition: xsgpspvtdata.h:33
int32_t m_height
Height in mm.
Definition: xsgpspvtdata.h:38
int32_t m_longitude
Longitude in 1e-7 degrees.
Definition: xsgpspvtdata.h:37
uint32_t m_hacc
Horizontal accuracy estimate, expected error standard deviation in mm.
Definition: xsgpspvtdata.h:42
int32_t m_veld
Velocity towards down in cm/s.
Definition: xsgpspvtdata.h:41
unsigned __int32 uint32_t
Definition: rptypes.h:49
Data from the GPS unit of a legacy MTi-G.
Definition: xsgpspvtdata.h:32



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