xsgpspvtdata.h

Go to the documentation of this file.

/* +---------------------------------------------------------------------------+
   |                     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 {
        uint16_t        m_pressure;             //!< The pressure measurement in units of 2 Pascal, only valid if m_pressureAge is not 255
        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.
        uint32_t        m_itow;                 //!< Integer time of week in ms
        int32_t         m_latitude;             //!< Latitude in 1e-7 degrees
        int32_t         m_longitude;    //!< Longitude in 1e-7 degrees
        int32_t         m_height;               //!< Height in mm
        int32_t         m_veln;                 //!< Velocity towards north in cm/s
        int32_t         m_vele;                 //!< Velocity towards east in cm/s
        int32_t         m_veld;                 //!< Velocity towards down in cm/s
        uint32_t        m_hacc;                 //!< Horizontal accuracy estimate, expected error standard deviation in mm
        uint32_t        m_vacc;                 //!< Vertical accuracy estimate, expected error standard deviation in mm
        uint32_t        m_sacc;                 //!< Speed accuracy estimate, expected error standard deviation in cm/s
        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.

#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