xsoutputsettings.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 XSOUTPUTSETTINGS_H
#define XSOUTPUTSETTINGS_H
 
/*!     \addtogroup enums Global enumerations
        @{
*/
//! Bit values for output settings
enum XsOutputSettings {
        XOS_Timestamp_Mask                                      = 0x00000003,
        XOS_Timestamp_None                                      = 0x00000000,
        XOS_Timestamp_PacketCounter                     = 0x00000001,
        XOS_Timestamp_SampleUtc                         = 0x00000002,
        XOS_OrientationMode_Mask                        = 0x0000000C,
        XOS_OrientationMode_Quaternion          = 0x00000000,
        XOS_OrientationMode_Euler                       = 0x00000004,
        XOS_OrientationMode_Matrix                      = 0x00000008,
        XOS_CalibratedMode_All                          = 0x00000000,
        XOS_CalibratedMode_AccGyrMag_Mask       = 0x00000070,
        XOS_CalibratedMode_Mask                         = XOS_CalibratedMode_AccGyrMag_Mask,
        XOS_CalibratedMode_Acc_Mask                     = 0x00000010,
        XOS_CalibratedMode_AccOnly                      = 0x00000060,
        XOS_CalibratedMode_AccGyrOnly           = 0x00000040,
        XOS_CalibratedMode_AccMagOnly           = 0x00000020,
        XOS_CalibratedMode_Gyr_Mask                     = 0x00000020,
        XOS_CalibratedMode_GyrOnly                      = 0x00000050,
        XOS_CalibratedMode_GyrMagOnly           = 0x00000010,
        XOS_CalibratedMode_Mag_Mask                     = 0x00000040,
        XOS_CalibratedMode_MagOnly                      = 0x00000030,
        XOS_Status_Compact                                      = 0x00000000,
        XOS_Status_Detailed                                     = 0x00000080,
        XOS_Dataformat_Mask                                     = 0x00000300,
        XOS_Dataformat_Float                            = 0x00000000,
        XOS_Dataformat_F1220                            = 0x00000100,
        XOS_Dataformat_Fp1632                           = 0x00000200,
        XOS_Dataformat_Double                           = 0x00000300,
 
        XOS_AuxiliaryMode_Mask                          = 0x00000C00,
        XOS_AuxiliaryMode_Ain1_Mask                     = 0x00000400,
        XOS_AuxiliaryMode_Ain2_Mask                     = 0x00000800,
        XOS_AuxiliaryMode_Ain1                          = 0x00000800,
        XOS_AuxiliaryMode_Ain2                          = 0x00000400,
        XOS_PositionMode_Mask                           = 0x0001C000,
        XOS_PositionMode_Lla_Wgs84                      = 0x00000000,
        XOS_VelocityMode_Mask                           = 0x00060000,
        XOS_VelocityMode_Ms_Xyz                         = 0x00000000,
        XOS_GpsInGpsPvt                                         = 0x00000000,
        XOS_NoGpsInGpsPvt                                       = 0x00080000,
        XOS_ExtendedTemperature_Mask            = 0x01000000,
        XOS_Coordinates_Ned                                     = 0x80000000
 
        //XOS_Uncertainty_Orient                                = 0x00100000
        //XOS_Uncertainty_Pos                                   = 0x00200000
        //XOS_Uncertainty_Vel                                   = 0x00400000
        //XOS_Uncertainty_Mask                          = 0x00F00000
 
};
/*! @} */
typedef enum XsOutputSettings XsOutputSettings;
 
#define XS_DEFAULT_OUTPUT_SETTINGS              (XsOutputSettings)(XOS_OrientationMode_Quaternion | XOS_Timestamp_PacketCounter)
 
#ifdef __cplusplus
/*! \brief Allow logical or of XsOutputSettings to be a valid XsOutputSettings value */
inline XsOutputSettings operator | (XsOutputSettings a, XsOutputSettings b)
{
        return (XsOutputSettings) ((unsigned long) a | (unsigned long) b);
}
 
/*! \brief Allow logical and of XsOutputSettings to be a valid XsOutputSettings value */
inline XsOutputSettings operator & (XsOutputSettings a, XsOutputSettings b)
{
        return (XsOutputSettings) ((unsigned long) a & (unsigned long) b);
}
 
/*! \brief Allow logical inversion of XsOutputSettings to be a valid XsOutputSettings value */
inline XsOutputSettings operator ~ (XsOutputSettings a)
{
        return (XsOutputSettings) ~((unsigned long)a);
}
 
/*! \brief Allow &= operator on XsOutputSettings */
inline XsOutputSettings& operator &= (XsOutputSettings& left, XsOutputSettings const & right)
{
        return left = left & right;
}
 
/*! \brief Allow |= operator on XsOutputSettings */
inline XsOutputSettings& operator |= (XsOutputSettings& left, XsOutputSettings const & right)
{
        return left = left | right;
}
 
#endif
 
#endif // file guard