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gnss_messages_novatel.h File Reference
#include "gnss_messages_common.h"
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Classes

struct  mrpt::obs::gnss::nv_oem6_header_t
 Novatel OEM6 regular header structure. More...
 
struct  mrpt::obs::gnss::nv_oem6_short_header_t
 Novatel OEM6 short header structure. More...
 
struct  mrpt::obs::gnss::Message_NV_OEM6_GENERIC_FRAME
 Novatel generic frame (to store frames without a parser at the present time). More...
 
struct  mrpt::obs::gnss::Message_NV_OEM6_GENERIC_SHORT_FRAME
 Novatel generic short-header frame (to store frames without a parser at the present time). More...
 
struct  mrpt::obs::gnss::Message_NV_OEM6_RANGECMP
 Novatel frame: NV_OEM6_RANGECMP. More...
 
struct  mrpt::obs::gnss::Message_NV_OEM6_RANGECMP::TCompressedRangeLog
 
struct  mrpt::obs::gnss::Message_NV_OEM6_VERSION
 Novatel frame: NV_OEM6_VERSION. More...
 
struct  mrpt::obs::gnss::Message_NV_OEM6_VERSION::TComponentVersion
 

Namespaces

 mrpt
 This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
 
 mrpt::obs
 This namespace contains representation of robot actions and observations.
 
 mrpt::obs::gnss
 GNSS (GPS) data structures, mainly for use within mrpt::obs::CObservationGPS.
 
 mrpt::obs::gnss::nv_oem6_position_type
 
 mrpt::obs::gnss::nv_oem6_solution_status
 
 mrpt::obs::gnss::nv_oem6_ins_status_type
 

Enumerations

enum  mrpt::obs::gnss::nv_oem6_position_type::nv_position_type_t {
  mrpt::obs::gnss::nv_oem6_position_type::NONE = 0, mrpt::obs::gnss::nv_oem6_position_type::FIXEDPOS = 1, mrpt::obs::gnss::nv_oem6_position_type::FIXEDHEIGHT = 2, mrpt::obs::gnss::nv_oem6_position_type::Reserved = 3,
  mrpt::obs::gnss::nv_oem6_position_type::FLOATCONV = 4, mrpt::obs::gnss::nv_oem6_position_type::WIDELANE = 5, mrpt::obs::gnss::nv_oem6_position_type::NARROWLANE = 6, mrpt::obs::gnss::nv_oem6_position_type::DOPPLER_VELOCITY = 8,
  mrpt::obs::gnss::nv_oem6_position_type::SINGLE = 16, mrpt::obs::gnss::nv_oem6_position_type::PSRDIFF = 17, mrpt::obs::gnss::nv_oem6_position_type::WAAS = 18, mrpt::obs::gnss::nv_oem6_position_type::PROPAGATED = 19,
  mrpt::obs::gnss::nv_oem6_position_type::OMNISTAR = 20, mrpt::obs::gnss::nv_oem6_position_type::L1_FLOAT = 32, mrpt::obs::gnss::nv_oem6_position_type::IONOFREE_FLOAT = 33, mrpt::obs::gnss::nv_oem6_position_type::NARROW_FLOAT = 34,
  mrpt::obs::gnss::nv_oem6_position_type::L1_INT = 48, mrpt::obs::gnss::nv_oem6_position_type::WIDE_INT = 49, mrpt::obs::gnss::nv_oem6_position_type::NARROW_INT = 50, mrpt::obs::gnss::nv_oem6_position_type::RTK_DIRECT_INS = 51,
  mrpt::obs::gnss::nv_oem6_position_type::INS = 52, mrpt::obs::gnss::nv_oem6_position_type::INS_PSRSP = 53, mrpt::obs::gnss::nv_oem6_position_type::INS_PSRDIFF = 54, mrpt::obs::gnss::nv_oem6_position_type::INS_RTKFLOAT = 55,
  mrpt::obs::gnss::nv_oem6_position_type::INS_RTKFIXED = 56, mrpt::obs::gnss::nv_oem6_position_type::OMNISTAR_HP = 64, mrpt::obs::gnss::nv_oem6_position_type::OMNISTAR_XP = 65, mrpt::obs::gnss::nv_oem6_position_type::CDGPS = 66
}
 Novatel OEM6 firmware reference, table 84; Novatel SPAN on OEM6 firmware manual, table 26. More...
 
enum  mrpt::obs::gnss::nv_oem6_solution_status::nv_solution_status_t {
  mrpt::obs::gnss::nv_oem6_solution_status::SOL_COMPUTED = 0, mrpt::obs::gnss::nv_oem6_solution_status::INSUFFICIENT_OBS, mrpt::obs::gnss::nv_oem6_solution_status::NO_CONVERGENCE, mrpt::obs::gnss::nv_oem6_solution_status::SINGULARITY,
  mrpt::obs::gnss::nv_oem6_solution_status::COV_TRACE, mrpt::obs::gnss::nv_oem6_solution_status::TEST_DIST, mrpt::obs::gnss::nv_oem6_solution_status::COLD_START, mrpt::obs::gnss::nv_oem6_solution_status::V_H_LIMIT,
  mrpt::obs::gnss::nv_oem6_solution_status::VARIANCE, mrpt::obs::gnss::nv_oem6_solution_status::RESIDUALS, mrpt::obs::gnss::nv_oem6_solution_status::DELTA_POS, mrpt::obs::gnss::nv_oem6_solution_status::NEGATIVE_VAR,
  mrpt::obs::gnss::nv_oem6_solution_status::INTEGRITY_WARNING =13, mrpt::obs::gnss::nv_oem6_solution_status::INS_INACTIVE, mrpt::obs::gnss::nv_oem6_solution_status::INS_ALIGNING, mrpt::obs::gnss::nv_oem6_solution_status::INS_BAD,
  mrpt::obs::gnss::nv_oem6_solution_status::IMU_UNPLUGGED, mrpt::obs::gnss::nv_oem6_solution_status::PENDING = 18, mrpt::obs::gnss::nv_oem6_solution_status::INVALID_FIX
}
 Novatel OEM6 firmware reference, table 85. More...
 
enum  mrpt::obs::gnss::nv_oem6_ins_status_type::nv_ins_status_type_t {
  mrpt::obs::gnss::nv_oem6_ins_status_type::INS_INACTIVE = 0, mrpt::obs::gnss::nv_oem6_ins_status_type::INS_ALIGNING = 1, mrpt::obs::gnss::nv_oem6_ins_status_type::INS_HIGH_VARIANCE = 2, mrpt::obs::gnss::nv_oem6_ins_status_type::INS_SOLUTION_GOOD = 3,
  mrpt::obs::gnss::nv_oem6_ins_status_type::INS_SOLUTION_FREE = 6, mrpt::obs::gnss::nv_oem6_ins_status_type::INS_ALIGNMENT_COMPLETE = 7, mrpt::obs::gnss::nv_oem6_ins_status_type::DETERMINING_ORIENTATION = 8, mrpt::obs::gnss::nv_oem6_ins_status_type::WAITING_INITIALPOS = 9
}
 Novatel SPAN on OEM6 firmware reference, table 33. More...
 

Functions

const std::string OBS_IMPEXPmrpt::obs::gnss::nv_oem6_position_type::enum2str (int val)
 for nv_position_type_t More...
 
const std::string OBS_IMPEXPmrpt::obs::gnss::nv_oem6_solution_status::enum2str (int val)
 for nv_solution_status_t More...
 
const std::string OBS_IMPEXPmrpt::obs::gnss::nv_oem6_ins_status_type::enum2str (int val)
 for nv_ins_status_type_t More...
 
template<class TGEODETICCOORDS >
GNSS_BINARY_MSG_DEFINITION_MID
TGEODETICCOORDS 
mrpt::obs::gnss::getAsStruct () const
 Return the geodetic coords as a mrpt::topography::TGeodeticCoords structure (requires linking against mrpt-topography) Call as: getAsStruct<TGeodeticCoords>();. More...
 
bool mrpt::obs::gnss::getAllFieldDescriptions (std::ostream &o) const MRPT_OVERRIDE
 
bool mrpt::obs::gnss::getAllFieldValues (std::ostream &o) const MRPT_OVERRIDE
 

Variables

nv_oem6_header_t mrpt::obs::gnss::header
 Novatel frame: NV_OEM6_BESTPOS. More...
 
uint32_t mrpt::obs::gnss::solution_stat
 nv_oem6_solution_status::nv_solution_status_t More...
 
uint32_t mrpt::obs::gnss::position_type
 nv_oem6_position_type::nv_position_type_t More...
 
double mrpt::obs::gnss::lat
 
double mrpt::obs::gnss::lon
 
double mrpt::obs::gnss::hgt
 [deg], [deg], hgt over sea level[m] More...
 
float mrpt::obs::gnss::undulation
 
uint32_t mrpt::obs::gnss::datum_id
 
float mrpt::obs::gnss::lat_sigma
 
float mrpt::obs::gnss::lon_sigma
 
float mrpt::obs::gnss::hgt_sigma
 Uncertainties (all in [m]) More...
 
char mrpt::obs::gnss::base_station_id [4]
 
float mrpt::obs::gnss::diff_age
 
float mrpt::obs::gnss::sol_age
 
uint8_t mrpt::obs::gnss::num_sats_tracked
 
uint8_t mrpt::obs::gnss::num_sats_sol
 
uint8_t mrpt::obs::gnss::num_sats_sol_L1
 
uint8_t mrpt::obs::gnss::num_sats_sol_multi
 
uint8_t mrpt::obs::gnss::reserved
 
uint8_t mrpt::obs::gnss::ext_sol_stat
 
uint8_t mrpt::obs::gnss::galileo_beidou_mask
 
uint8_t mrpt::obs::gnss::gps_glonass_mask
 
uint32_t mrpt::obs::gnss::crc
 
uint32_t mrpt::obs::gnss::week
 
double mrpt::obs::gnss::seconds_in_week
 
double mrpt::obs::gnss::vel_north
 
double mrpt::obs::gnss::vel_east
 
double mrpt::obs::gnss::vel_up
 
double mrpt::obs::gnss::roll
 
double mrpt::obs::gnss::pitch
 
double mrpt::obs::gnss::azimuth
 
uint32_t mrpt::obs::gnss::ins_status
 nv_oem6_ins_status_type::nv_ins_status_type_t More...
 
double mrpt::obs::gnss::pos_cov [9]
 Position covariance matrix in local level frame (metres squared) xx,xy,xz,yx,yy,yz,zx,zy,zz. More...
 
double mrpt::obs::gnss::att_cov [9]
 Attitude covariance matrix of the SPAN frame to the local level frame. (deg sq) xx,xy,xz,yx,yy,yz,zx,zy,zz. More...
 
double mrpt::obs::gnss::vel_cov [9]
 Velocity covariance matrix in local level frame. (metres/second squared) xx,xy,xz,yx,yy,yz,zx,zy,zz. More...
 
uint32_t mrpt::obs::gnss::error
 
uint32_t mrpt::obs::gnss::num_stats
 
uint32_t mrpt::obs::gnss::rxstat
 
uint32_t mrpt::obs::gnss::rxstat_pri
 
uint32_t mrpt::obs::gnss::rxstat_set
 
uint32_t mrpt::obs::gnss::rxstat_clear
 
uint32_t mrpt::obs::gnss::aux1stat
 
uint32_t mrpt::obs::gnss::aux1stat_pri
 
uint32_t mrpt::obs::gnss::aux1stat_set
 
uint32_t mrpt::obs::gnss::aux1stat_clear
 
uint32_t mrpt::obs::gnss::aux2stat
 
uint32_t mrpt::obs::gnss::aux2stat_pri
 
uint32_t mrpt::obs::gnss::aux2stat_set
 
uint32_t mrpt::obs::gnss::aux2stat_clear
 
uint32_t mrpt::obs::gnss::aux3stat
 
uint32_t mrpt::obs::gnss::aux3stat_pri
 
uint32_t mrpt::obs::gnss::aux3stat_set
 
uint32_t mrpt::obs::gnss::aux3stat_clear
 
uint32_t mrpt::obs::gnss::sat_prn
 
uint32_t mrpt::obs::gnss::ref_week
 
uint32_t mrpt::obs::gnss::ref_secs
 
uint8_t mrpt::obs::gnss::subframe1 [30]
 
uint8_t mrpt::obs::gnss::subframe2 [30]
 
uint8_t mrpt::obs::gnss::subframe3 [30]
 
double mrpt::obs::gnss::week_seconds
 
uint32_t mrpt::obs::gnss::imu_status
 
int32_t mrpt::obs::gnss::accel_z
 
int32_t mrpt::obs::gnss::accel_y_neg
 
int32_t mrpt::obs::gnss::accel_x
 
int32_t mrpt::obs::gnss::gyro_z
 
int32_t mrpt::obs::gnss::gyro_y_neg
 
int32_t mrpt::obs::gnss::gyro_x
 
double mrpt::obs::gnss::clock_offset
 
double mrpt::obs::gnss::clock_offset_std
 
double mrpt::obs::gnss::utc_offset
 
uint32_t mrpt::obs::gnss::clock_status
 
double mrpt::obs::gnss::a0
 
double mrpt::obs::gnss::a1
 
double mrpt::obs::gnss::a2
 
double mrpt::obs::gnss::a3
 
double mrpt::obs::gnss::b0
 
double mrpt::obs::gnss::b1
 
double mrpt::obs::gnss::b2
 
double mrpt::obs::gnss::b3
 
uint32_t mrpt::obs::gnss::utc_wn
 UTC reference week number. More...
 
uint32_t mrpt::obs::gnss::tot
 Reference time of UTC params. More...
 
double mrpt::obs::gnss::A0
 
double mrpt::obs::gnss::A1
 UTC constant and 1st order terms. More...
 
uint32_t mrpt::obs::gnss::wn_lsf
 Future week number. More...
 
uint32_t mrpt::obs::gnss::dn
 Day number (1=sunday, 7=saturday) More...
 
uint32_t mrpt::obs::gnss::deltat_ls
 Delta time due to leap seconds. More...
 
uint32_t mrpt::obs::gnss::deltat_lsf
 Delta time due to leap seconds (future) More...
 



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