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xsoutputsettings.h
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1 /* +------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | http://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file |
6  | See: http://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See details in http://www.mrpt.org/License |
8  +------------------------------------------------------------------------+ */
9 #ifndef XSOUTPUTSETTINGS_H
10 #define XSOUTPUTSETTINGS_H
11 
12 /*! \addtogroup enums Global enumerations
13  @{
14 */
15 //! Bit values for output settings
17 {
18  XOS_Timestamp_Mask = 0x00000003,
19  XOS_Timestamp_None = 0x00000000,
26  XOS_CalibratedMode_All = 0x00000000,
38  XOS_Status_Compact = 0x00000000,
39  XOS_Status_Detailed = 0x00000080,
40  XOS_Dataformat_Mask = 0x00000300,
41  XOS_Dataformat_Float = 0x00000000,
42  XOS_Dataformat_F1220 = 0x00000100,
43  XOS_Dataformat_Fp1632 = 0x00000200,
44  XOS_Dataformat_Double = 0x00000300,
45 
46  XOS_AuxiliaryMode_Mask = 0x00000C00,
49  XOS_AuxiliaryMode_Ain1 = 0x00000800,
50  XOS_AuxiliaryMode_Ain2 = 0x00000400,
51  XOS_PositionMode_Mask = 0x0001C000,
53  XOS_VelocityMode_Mask = 0x00060000,
55  XOS_GpsInGpsPvt = 0x00000000,
56  XOS_NoGpsInGpsPvt = 0x00080000,
58  XOS_Coordinates_Ned = 0x80000000
59 
60  // XOS_Uncertainty_Orient = 0x00100000
61  // XOS_Uncertainty_Pos = 0x00200000
62  // XOS_Uncertainty_Vel = 0x00400000
63  // XOS_Uncertainty_Mask = 0x00F00000
64 
65 };
66 /*! @} */
68 
69 #define XS_DEFAULT_OUTPUT_SETTINGS \
70  (XsOutputSettings)( \
71  XOS_OrientationMode_Quaternion | XOS_Timestamp_PacketCounter)
72 
73 #ifdef __cplusplus
74 /*! \brief Allow logical or of XsOutputSettings to be a valid XsOutputSettings
75  * value */
77 {
78  return (XsOutputSettings)((unsigned long)a | (unsigned long)b);
79 }
80 
81 /*! \brief Allow logical and of XsOutputSettings to be a valid XsOutputSettings
82  * value */
84 {
85  return (XsOutputSettings)((unsigned long)a & (unsigned long)b);
86 }
87 
88 /*! \brief Allow logical inversion of XsOutputSettings to be a valid
89  * XsOutputSettings value */
91 {
92  return (XsOutputSettings) ~((unsigned long)a);
93 }
94 
95 /*! \brief Allow &= operator on XsOutputSettings */
96 inline XsOutputSettings& operator&=(
97  XsOutputSettings& left, XsOutputSettings const& right)
98 {
99  return left = left & right;
100 }
101 
102 /*! \brief Allow |= operator on XsOutputSettings */
103 inline XsOutputSettings& operator|=(
104  XsOutputSettings& left, XsOutputSettings const& right)
105 {
106  return left = left | right;
107 }
108 
109 #endif
110 
111 #endif // file guard
GLubyte GLubyte b
Definition: glext.h:6279
XsOutputSettings
Bit values for output settings.
const Eigen::MatrixBase< Derived >::AdjointReturnType operator~(const Eigen::MatrixBase< Derived > &m)
Transpose operator for matrices.
Definition: ops_matrices.h:33
GLubyte GLubyte GLubyte a
Definition: glext.h:6279



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