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<div class="navpath"><a class="el" href="namespacegbxnovatelacfr.html">gbxnovatelacfr</a>::<a class="el" href="classgbxnovatelacfr_1_1InsPvaData.html">InsPvaData</a>
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<h1>gbxnovatelacfr::InsPvaData Class Reference</h1><!-- doxytag: class="gbxnovatelacfr::InsPvaData" --><!-- doxytag: inherits="gbxnovatelacfr::GenericData" -->
<p>INS position/velocity/attitude information.
<a href="#_details">More...</a></p>
<p><code>#include <<a class="el" href="gbxnovatelacfr_2driver_8h_source.html">driver.h</a>></code></p>
<p>Inherits <a class="el" href="classgbxnovatelacfr_1_1GenericData.html">gbxnovatelacfr::GenericData</a>.</p>
<p><a href="classgbxnovatelacfr_1_1InsPvaData-members.html">List of all members.</a></p>
<table border="0" cellpadding="0" cellspacing="0">
<tr><td colspan="2"><h2>Public Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aaf927bda43028a324b835f3ec8254c06"></a><!-- doxytag: member="gbxnovatelacfr::InsPvaData::gpsWeekNr" ref="aaf927bda43028a324b835f3ec8254c06" args="" -->
int </td><td class="memItemRight" valign="bottom"><a class="el" href="classgbxnovatelacfr_1_1InsPvaData.html#aaf927bda43028a324b835f3ec8254c06">gpsWeekNr</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">number of full weeks since midnight 05/Jan/1980 (UTC) <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a6f31f600a385ea8f849db7c8c12a92be"></a><!-- doxytag: member="gbxnovatelacfr::InsPvaData::secIntoWeek" ref="a6f31f600a385ea8f849db7c8c12a92be" args="" -->
double </td><td class="memItemRight" valign="bottom"><a class="el" href="classgbxnovatelacfr_1_1InsPvaData.html#a6f31f600a385ea8f849db7c8c12a92be">secIntoWeek</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">yields GPS-time (together with <a class="el" href="classgbxnovatelacfr_1_1InsPvaData.html#aaf927bda43028a324b835f3ec8254c06">gpsWeekNr</a>); continous (contrary to UTC which uses leapseconds) <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a67812408dae57bd82c4490601cb0ebac"></a><!-- doxytag: member="gbxnovatelacfr::InsPvaData::latitude" ref="a67812408dae57bd82c4490601cb0ebac" args="" -->
double </td><td class="memItemRight" valign="bottom"><a class="el" href="classgbxnovatelacfr_1_1InsPvaData.html#a67812408dae57bd82c4490601cb0ebac">latitude</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">[deg] north positive WGS84 <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ad70f71a5a8ab0343090a2f07baa1f939"></a><!-- doxytag: member="gbxnovatelacfr::InsPvaData::longitude" ref="ad70f71a5a8ab0343090a2f07baa1f939" args="" -->
double </td><td class="memItemRight" valign="bottom"><a class="el" href="classgbxnovatelacfr_1_1InsPvaData.html#ad70f71a5a8ab0343090a2f07baa1f939">longitude</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">[deg] east positive WGS84 <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a013ab74666d1f68906099c11bee58fe2"></a><!-- doxytag: member="gbxnovatelacfr::InsPvaData::height" ref="a013ab74666d1f68906099c11bee58fe2" args="" -->
double </td><td class="memItemRight" valign="bottom"><a class="el" href="classgbxnovatelacfr_1_1InsPvaData.html#a013ab74666d1f68906099c11bee58fe2">height</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">[m] above ellipsoid WGS84 (heigth_ellipsoid - undulation == height_geoid (aka AMSL) <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a33cf22b113864b9629df7929cee65a21"></a><!-- doxytag: member="gbxnovatelacfr::InsPvaData::timeStampSec" ref="a33cf22b113864b9629df7929cee65a21" args="" -->
int </td><td class="memItemRight" valign="bottom"><a class="el" href="classgbxnovatelacfr_1_1InsPvaData.html#a33cf22b113864b9629df7929cee65a21">timeStampSec</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">in Computer time, beginning of message at serial port <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a3922fd6326cb3da0074a026d68397e43"></a><!-- doxytag: member="gbxnovatelacfr::InsPvaData::timeStampUSec" ref="a3922fd6326cb3da0074a026d68397e43" args="" -->
int </td><td class="memItemRight" valign="bottom"><a class="el" href="classgbxnovatelacfr_1_1InsPvaData.html#a3922fd6326cb3da0074a026d68397e43">timeStampUSec</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">in Computer time, beginning of message at serial port <br/></td></tr>
<tr><td colspan="2"><div class="groupHeader">Velocity vector</div></td></tr>
<tr><td colspan="2"><div class="groupText"><p><a class="anchor" id="amgrpc4e34335b6ee34d275a9b41fd39bcf72"></a> Relativ to true North/East and geoid vertical (I think) </p>
</div></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ad14f38ba8fa6f62a9dee4fbe8356e160"></a><!-- doxytag: member="gbxnovatelacfr::InsPvaData::northVelocity" ref="ad14f38ba8fa6f62a9dee4fbe8356e160" args="" -->
double </td><td class="memItemRight" valign="bottom"><a class="el" href="classgbxnovatelacfr_1_1InsPvaData.html#ad14f38ba8fa6f62a9dee4fbe8356e160">northVelocity</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">[m/s] south is negative <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aef34543284e8b861af18d9becdd3259a"></a><!-- doxytag: member="gbxnovatelacfr::InsPvaData::eastVelocity" ref="aef34543284e8b861af18d9becdd3259a" args="" -->
double </td><td class="memItemRight" valign="bottom"><a class="el" href="classgbxnovatelacfr_1_1InsPvaData.html#aef34543284e8b861af18d9becdd3259a">eastVelocity</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">[m/s] west is negative <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="afa0d76ecb401ac5024f563ca0ac5c8aa"></a><!-- doxytag: member="gbxnovatelacfr::InsPvaData::upVelocity" ref="afa0d76ecb401ac5024f563ca0ac5c8aa" args="" -->
double </td><td class="memItemRight" valign="bottom"><a class="el" href="classgbxnovatelacfr_1_1InsPvaData.html#afa0d76ecb401ac5024f563ca0ac5c8aa">upVelocity</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">[m/s] down is negative <br/></td></tr>
<tr><td colspan="2"><div class="groupHeader">Orientation</div></td></tr>
<tr><td colspan="2"><div class="groupText"><p><a class="anchor" id="amgrpabbd64f40c34c537d3a571af068fce29"></a> The default IMU axis definitions are: Y - forward Z - up X - right hand side </p>
</div></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a0ce07cd6bc331dd559e45c499e8eb7d1"></a><!-- doxytag: member="gbxnovatelacfr::InsPvaData::roll" ref="a0ce07cd6bc331dd559e45c499e8eb7d1" args="" -->
double </td><td class="memItemRight" valign="bottom"><a class="el" href="classgbxnovatelacfr_1_1InsPvaData.html#a0ce07cd6bc331dd559e45c499e8eb7d1">roll</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">[degree] right handed rotation from local level around y-axes <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ae4936e018972d9e5302434ab5c4442ff"></a><!-- doxytag: member="gbxnovatelacfr::InsPvaData::pitch" ref="ae4936e018972d9e5302434ab5c4442ff" args="" -->
double </td><td class="memItemRight" valign="bottom"><a class="el" href="classgbxnovatelacfr_1_1InsPvaData.html#ae4936e018972d9e5302434ab5c4442ff">pitch</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">[degree] right handed rotation from local level around x-axes <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a393645a68f924eb91af03b6070acedd4"></a><!-- doxytag: member="gbxnovatelacfr::InsPvaData::azimuth" ref="a393645a68f924eb91af03b6070acedd4" args="" -->
double </td><td class="memItemRight" valign="bottom"><a class="el" href="classgbxnovatelacfr_1_1InsPvaData.html#a393645a68f924eb91af03b6070acedd4">azimuth</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">[degree] left handed around z-axes rotation from (true?) north clockwise <br/></td></tr>
</table>
<hr/><a name="_details"></a><h2>Detailed Description</h2>
<p>INS position/velocity/attitude information. </p>
<hr/>The documentation for this class was generated from the following files:<ul>
<li><a class="el" href="gbxnovatelacfr_2driver_8h_source.html">gbxnovatelacfr/driver.h</a></li>
<li>gbxnovatelacfr/driver.cpp</li>
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