xsgpspvtdata.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
#ifndef XSGPSPVTDATA_H
#define XSGPSPVTDATA_H

#include "xstypesconfig.h"
#include "pstdint.h"

#ifdef __cplusplus
extern "C" {
#else
#define XSGPSPVTDATA_INITIALIZER                  \
        {                                             \
                0, 255, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 255 \
        }
#endif

struct XsGpsPvtData;

XSTYPES_DLL_API void XsGpsPvtData_destruct(struct XsGpsPvtData* thisPtr);
XSTYPES_DLL_API int XsGpsPvtData_empty(const struct XsGpsPvtData* thisPtr);

#ifdef __cplusplus
}  // extern "C"
#endif

/*! \brief Data from the GPS unit of a legacy MTi-G.*/
struct XsGpsPvtData
{
        /** The pressure measurement in units of 2 Pascal, only valid if
         * m_pressureAge is not 255 */
        uint16_t m_pressure;
        /** The age of the pressure measurement in packets. When it decreases
         * relative to the previous packet, it indicates that new data is available.
         */
        uint8_t m_pressureAge;
        /** Integer time of week in ms */
        uint32_t m_itow;
        /** Latitude in 1e-7 degrees */
        int32_t m_latitude;
        /** Longitude in 1e-7 degrees */
        int32_t m_longitude;
        /** Height in mm */
        int32_t m_height;
        /** Velocity towards north in cm/s */
        int32_t m_veln;
        /** Velocity towards east in cm/s */
        int32_t m_vele;
        /** Velocity towards down in cm/s */
        int32_t m_veld;
        /** Horizontal accuracy estimate, expected error standard deviation in mm */
        uint32_t m_hacc;
        /** Vertical accuracy estimate, expected error standard deviation in mm */
        uint32_t m_vacc;
        /** Speed accuracy estimate, expected error standard deviation in cm/s */
        uint32_t m_sacc;
        /** The age of the GPS measurement in packets. When it decreases relative to
         * the previous packet, it indicates that new data is available. */
        uint8_t m_gpsAge;

#ifdef __cplusplus
        /*! \brief \copybrief XsGpsPvtData_destruct */
        inline void clear() { XsGpsPvtData_destruct(this); }
        /*! \brief \copybrief XsGpsPvtData_empty */
        inline bool empty() const { return 0 != XsGpsPvtData_empty(this); }
#endif
};

typedef struct XsGpsPvtData XsGpsPvtData;

#endif  // file guard