gps.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

/*---------------------------------------------------------------
    APPLICATION: mrpt_ros bridge
    FILE: GPS.h
    AUTHOR: Raghavender Sahdev <raghavendersahdev@gmail.com>
  ---------------------------------------------------------------*/

#pragma once

#include <mrpt/obs/CObservationGPS.h>
#include <sensor_msgs/NavSatFix.h>

/// ROS message:    http://docs.ros.org/api/sensor_msgs/html/msg/NavSatFix.html
/// MRPT message:
/// https://github.com/MRPT/mrpt/blob/master/libs/obs/include/mrpt/obs/CObservationGPS.h

/** Conversion functions between ROS 1 <-> MRPT types.
 * \ingroup mrpt_ros1bridge_grp
 */
namespace mrpt::ros1bridge
{
/** \addtogroup mrpt_ros1bridge_grp
 * @{ */

/** Convert sensor_msgs/NavSatFix -> mrpt::obs::CObservationGPS
 * \return true on sucessful conversion, false on any error.
 */
bool fromROS(
    const sensor_msgs::NavSatFix& msg, mrpt::obs::CObservationGPS& obj);

/** Convert mrpt::obs::CObservationGPS -> sensor_msgs/NavSatFix
 *  The user must supply the "msg_header" field to be copied into the output
 * message object, since that part does not appear in MRPT classes.
 *
 *  Since COnservationGPS does not contain "position_covariance" and
 * "position_covariance_type" sensor_msgs::NavSatFix::position_covariance_type
 * and sensor_msgs::NavSatFix::position_covariance will be empty. \return true
 * on sucessful conversion, false on any error.
 */
bool toROS(
    const mrpt::obs::CObservationGPS& obj, const std_msgs::Header& msg_header,
    sensor_msgs::NavSatFix& msg);

/** @} */

}  // namespace mrpt::ros1bridge