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<div class="navpath"><a class="el" href="dir_b8ba9ebcb71a95a44c4fd60b7d348fe1.html">src</a> » <a class="el" href="dir_ecd2e0ae7771ca42ec0b8bcca2f60ddb.html">gbxnovatelacfr</a>
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<h1>gbxnovatelacfr/driver.h</h1><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span>
<a name="l00002"></a>00002 <span class="comment"> * GearBox Project: Peer-Reviewed Open-Source Libraries for Robotics</span>
<a name="l00003"></a>00003 <span class="comment"> * http://gearbox.sf.net/</span>
<a name="l00004"></a>00004 <span class="comment"> * Copyright (c) 2004-2008 Matthew Ridley, Ben Upcroft, Michael Moser</span>
<a name="l00005"></a>00005 <span class="comment"> *</span>
<a name="l00006"></a>00006 <span class="comment"> * This distribution is licensed to you under the terms described in</span>
<a name="l00007"></a>00007 <span class="comment"> * the LICENSE file included in this distribution.</span>
<a name="l00008"></a>00008 <span class="comment"> *</span>
<a name="l00009"></a>00009 <span class="comment"> */</span>
<a name="l00010"></a>00010
<a name="l00011"></a>00011 <span class="preprocessor">#ifndef GBXNOVATELACFR_DRIVER_H</span>
<a name="l00012"></a>00012 <span class="preprocessor"></span><span class="preprocessor">#define GBXNOVATELACFR_DRIVER_H</span>
<a name="l00013"></a>00013 <span class="preprocessor"></span>
<a name="l00014"></a>00014 <span class="preprocessor">#include <cstdlib></span>
<a name="l00015"></a>00015 <span class="preprocessor">#include <string></span>
<a name="l00016"></a>00016 <span class="preprocessor">#include <memory></span>
<a name="l00017"></a>00017 <span class="preprocessor">#include <vector></span>
<a name="l00018"></a>00018
<a name="l00019"></a>00019 <span class="comment">// forward declarations</span>
<a name="l00020"></a>00020 <span class="comment">// users don't need to know about serial devices or Tracers or imu decoders</span>
<a name="l00021"></a><a class="code" href="namespacegbxserialacfr.html">00021</a> <span class="keyword">namespace </span>gbxserialacfr{
<a name="l00022"></a>00022 <span class="keyword">class </span><a class="code" href="classgbxserialacfr_1_1Serial.html" title="Encapsulates a serial port.">Serial</a>;
<a name="l00023"></a>00023 }
<a name="l00024"></a><a class="code" href="namespacegbxutilacfr.html">00024</a> <span class="keyword">namespace </span>gbxutilacfr{
<a name="l00025"></a>00025 <span class="keyword">class </span><a class="code" href="classgbxutilacfr_1_1Tracer.html" title="Local and remote tracing.">Tracer</a>;
<a name="l00026"></a>00026 }
<a name="l00027"></a>00027 <span class="keyword">namespace </span>gbxnovatelutilacfr{
<a name="l00028"></a>00028 <span class="keyword">class </span>ImuDecoder;
<a name="l00029"></a>00029 }
<a name="l00030"></a>00030
<a name="l00033"></a>00033 <span class="keyword">namespace </span>gbxnovatelacfr{
<a name="l00034"></a>00034
<a name="l00036"></a><a class="code" href="classgbxnovatelacfr_1_1SimpleConfig.html">00036</a> <span class="keyword">class </span><a class="code" href="classgbxnovatelacfr_1_1SimpleConfig.html" title="Minimum information to configure the receiver in INS mode.">SimpleConfig</a>{
<a name="l00037"></a>00037 <span class="keyword">public</span>:
<a name="l00040"></a><a class="code" href="classgbxnovatelacfr_1_1SimpleConfig.html#a761c5dba2d5d2517d8abe0447112f057">00040</a> <a class="code" href="classgbxnovatelacfr_1_1SimpleConfig.html#a761c5dba2d5d2517d8abe0447112f057">SimpleConfig</a>(std::string serialDevice, <span class="keywordtype">int</span> baudRate, std::string imuType, std::vector<double > &imuToGpsOffset):
<a name="l00041"></a>00041 serialDevice_(serialDevice),
<a name="l00042"></a>00042 baudRate_(baudRate),
<a name="l00043"></a>00043 imuType_(imuType),
<a name="l00044"></a>00044 imuToGpsOffset_(imuToGpsOffset) {};
<a name="l00045"></a>00045
<a name="l00047"></a>00047 <span class="comment">//</span>
<a name="l00053"></a>00053 <span class="comment"></span> <span class="keywordtype">bool</span> <a class="code" href="classgbxnovatelacfr_1_1SimpleConfig.html#a154ef47a8b6673a2c28f87fba17c00a8" title="Returns true if the configuration is sane.">isValid</a>() <span class="keyword">const</span>;
<a name="l00055"></a>00055 std::string <a class="code" href="classgbxnovatelacfr_1_1SimpleConfig.html#a73ef80c76412b1cc709a9d487d22f90b" title="Dumps the config in human readable form.">toString</a>() <span class="keyword">const</span>;
<a name="l00056"></a>00056
<a name="l00057"></a>00057 std::string serialDevice_;
<a name="l00058"></a>00058 <span class="keywordtype">int</span> baudRate_;
<a name="l00059"></a>00059 std::string imuType_;
<a name="l00060"></a>00060 std::vector<double > imuToGpsOffset_;
<a name="l00061"></a>00061 };
<a name="l00062"></a>00062
<a name="l00064"></a><a class="code" href="classgbxnovatelacfr_1_1GpsOnlyConfig.html">00064</a> <span class="keyword">class </span><a class="code" href="classgbxnovatelacfr_1_1GpsOnlyConfig.html" title="Minimum information needed to configure the receiver in GPS only mode.">GpsOnlyConfig</a>{
<a name="l00065"></a>00065 <span class="keyword">public</span>:
<a name="l00066"></a>00066 <a class="code" href="classgbxnovatelacfr_1_1GpsOnlyConfig.html" title="Minimum information needed to configure the receiver in GPS only mode.">GpsOnlyConfig</a>(std::string serialDevice, <span class="keywordtype">int</span> baudRate):
<a name="l00067"></a>00067 serialDevice_(serialDevice),
<a name="l00068"></a>00068 baudRate_(baudRate) {};
<a name="l00069"></a>00069
<a name="l00071"></a>00071 <span class="comment">//</span>
<a name="l00075"></a>00075 <span class="comment"></span> <span class="keywordtype">bool</span> <a class="code" href="classgbxnovatelacfr_1_1GpsOnlyConfig.html#a1607768dbd36a1d2209834c64f8a4911" title="Returns true if the configuration is sane.">isValid</a>() <span class="keyword">const</span>;
<a name="l00076"></a>00076 std::string toString() <span class="keyword">const</span>;
<a name="l00077"></a>00077
<a name="l00078"></a>00078 std::string serialDevice_;
<a name="l00079"></a>00079 <span class="keywordtype">int</span> baudRate_;
<a name="l00080"></a>00080 };
<a name="l00081"></a>00081
<a name="l00083"></a>00083 <span class="comment">//</span>
<a name="l00087"></a><a class="code" href="classgbxnovatelacfr_1_1Config.html">00087</a> <span class="comment"></span><span class="keyword">class </span><a class="code" href="classgbxnovatelacfr_1_1Config.html" title="All the information needed to configure the driver.">Config</a>{
<a name="l00088"></a>00088 <span class="keyword">public</span>:
<a name="l00090"></a>00090 <span class="comment">//</span>
<a name="l00092"></a>00092 <span class="comment"></span> <a class="code" href="classgbxnovatelacfr_1_1Config.html#a1bb632834b900c80b6c2f89a831ce01c" title="disables everything, so you can (and must) set just the options you need.">Config</a>(<span class="keyword">const</span> <a class="code" href="classgbxnovatelacfr_1_1SimpleConfig.html" title="Minimum information to configure the receiver in INS mode.">SimpleConfig</a> &simpleCfg);
<a name="l00094"></a>00094 <span class="comment">//</span>
<a name="l00096"></a>00096 <span class="comment"></span> <a class="code" href="classgbxnovatelacfr_1_1Config.html#a1bb632834b900c80b6c2f89a831ce01c" title="disables everything, so you can (and must) set just the options you need.">Config</a>(<span class="keyword">const</span> <a class="code" href="classgbxnovatelacfr_1_1GpsOnlyConfig.html" title="Minimum information needed to configure the receiver in GPS only mode.">GpsOnlyConfig</a> &gpsOnlyCfg);
<a name="l00098"></a>00098 <a class="code" href="classgbxnovatelacfr_1_1Config.html#a1bb632834b900c80b6c2f89a831ce01c" title="disables everything, so you can (and must) set just the options you need.">Config</a>();
<a name="l00099"></a>00099
<a name="l00101"></a>00101 <span class="comment">//</span>
<a name="l00109"></a>00109 <span class="comment"></span> <span class="keywordtype">bool</span> <a class="code" href="classgbxnovatelacfr_1_1Config.html#aed23241195e2570ec88fa7defe767aa0" title="Returns true if the configuration is sane.">isValid</a>();
<a name="l00111"></a>00111 std::string <a class="code" href="classgbxnovatelacfr_1_1Config.html#a5846e22463739a751ea1de2091fa28bc" title="Dumps the config in human readable form.">toString</a>() <span class="keyword">const</span>;
<a name="l00112"></a>00112
<a name="l00114"></a>00114 <span class="comment">//</span>
<a name="l00116"></a>00116 <span class="comment"></span> std::string serialDevice_;
<a name="l00117"></a>00117 <span class="keywordtype">int</span> baudRate_;
<a name="l00119"></a>00119
<a name="l00121"></a>00121 <span class="comment">//</span>
<a name="l00123"></a>00123 <span class="comment"></span> <span class="keywordtype">bool</span> enableImu_;
<a name="l00124"></a><a class="code" href="classgbxnovatelacfr_1_1Config.html#a3a7eb49f73f9d72a1bce29e3fbb290ca">00124</a> std::string <a class="code" href="classgbxnovatelacfr_1_1Config.html#a3a7eb49f73f9d72a1bce29e3fbb290ca">imuType_</a>;
<a name="l00125"></a>00125
<a name="l00126"></a>00126
<a name="l00129"></a>00129 <span class="comment">//</span>
<a name="l00131"></a>00131 <span class="comment"></span> <span class="keywordtype">bool</span> enableInsPva_;
<a name="l00132"></a>00132 <span class="keywordtype">bool</span> enableGpsPos_;
<a name="l00133"></a>00133 <span class="keywordtype">bool</span> enableGpsVel_;
<a name="l00134"></a>00134 <span class="keywordtype">bool</span> enableRawImu_;
<a name="l00135"></a><a class="code" href="classgbxnovatelacfr_1_1Config.html#ab9f68ad1889cab1570c51377bff041a7">00135</a> <span class="keywordtype">bool</span> <a class="code" href="classgbxnovatelacfr_1_1Config.html#ab9f68ad1889cab1570c51377bff041a7" title="normally we throw an exception, set this to &quot;true&quot; if you want to enable...">ignoreUnknownMessages_</a>;
<a name="l00136"></a>00136
<a name="l00138"></a>00138
<a name="l00143"></a>00143 <span class="comment">//</span>
<a name="l00145"></a><a class="code" href="classgbxnovatelacfr_1_1Config.html#ae6f77ffa7ed4fe8ceb1400da0630171f">00145</a> <span class="comment"></span> <span class="keywordtype">double</span> <a class="code" href="classgbxnovatelacfr_1_1Config.html#ae6f77ffa7ed4fe8ceb1400da0630171f" title="100Hz max, if RawImu is enabled 50Hz max">dtInsPva_</a>;
<a name="l00146"></a><a class="code" href="classgbxnovatelacfr_1_1Config.html#abfff6e4ed449b8c595173587411feea3">00146</a> <span class="keywordtype">double</span> <a class="code" href="classgbxnovatelacfr_1_1Config.html#abfff6e4ed449b8c595173587411feea3" title="20Hz max, 5Hz max if RawImu or InsPva is enabled">dtGpsPos_</a>;
<a name="l00147"></a><a class="code" href="classgbxnovatelacfr_1_1Config.html#a10713b95ca59254285f6db466d460bbe">00147</a> <span class="keywordtype">double</span> <a class="code" href="classgbxnovatelacfr_1_1Config.html#a10713b95ca59254285f6db466d460bbe" title="20Hz max, 5Hz max if RawImu or InsPva is enabled">dtGpsVel_</a>;
<a name="l00148"></a><a class="code" href="classgbxnovatelacfr_1_1Config.html#abe7dc200c91021aa59d15120658f5ddd">00148</a> <span class="keywordtype">bool</span> <a class="code" href="classgbxnovatelacfr_1_1Config.html#abe7dc200c91021aa59d15120658f5ddd" title="Don&#39;t bitch about wrong rates, change them to something sensible.">fixInvalidRateSettings_</a>;
<a name="l00149"></a>00149
<a name="l00151"></a>00151
<a name="l00153"></a>00153 <span class="comment">//</span>
<a name="l00155"></a><a class="code" href="classgbxnovatelacfr_1_1Config.html#ae76a93b0bad1bdbd08e6525df29c8b12">00155</a> <span class="comment"></span> std::vector<double > <a class="code" href="classgbxnovatelacfr_1_1Config.html#ae76a93b0bad1bdbd08e6525df29c8b12" title="vector (xyz [m]) from IMU center to Antenna Phase Center, in IMU coordinates, vital...">imuToGpsOffset_</a>;
<a name="l00156"></a><a class="code" href="classgbxnovatelacfr_1_1Config.html#ab27414da0b558631af0712cf9fdfc6d7">00156</a> std::vector<double > <a class="code" href="classgbxnovatelacfr_1_1Config.html#ab27414da0b558631af0712cf9fdfc6d7" title="optional (size 3 or 0) xyz; !it is unclear to me whether these are factors, or absolute...">imuToGpsOffsetUncertainty_</a>;
<a name="l00157"></a>00157 <span class="keywordtype">bool</span> enableInsOffset_;
<a name="l00158"></a><a class="code" href="classgbxnovatelacfr_1_1Config.html#aafcdee3480641e9a4e4de9423796cc91">00158</a> std::vector<double > <a class="code" href="classgbxnovatelacfr_1_1Config.html#aafcdee3480641e9a4e4de9423796cc91" title="report INS position/velocity offset (xyz [m] in IMU coordinates) from the IMU center;...">insOffset_</a>;
<a name="l00159"></a><a class="code" href="classgbxnovatelacfr_1_1Config.html#a0f1e689156554764cfdbaa3f4062c25d">00159</a> <span class="keywordtype">bool</span> <a class="code" href="classgbxnovatelacfr_1_1Config.html#a0f1e689156554764cfdbaa3f4062c25d" title="tightly coupled (phase based vs position based) filter; Chance of better performance...">enableInsPhaseUpdate_</a>;
<a name="l00160"></a>00160
<a name="l00162"></a>00162
<a name="l00164"></a>00164 <span class="comment">//</span>
<a name="l00166"></a><a class="code" href="classgbxnovatelacfr_1_1Config.html#a3baff591b09263b695b1abb7f059e015">00166</a> <span class="comment"></span> <span class="keywordtype">bool</span> <a class="code" href="classgbxnovatelacfr_1_1Config.html#a3baff591b09263b695b1abb7f059e015" title="code-differential corrections over satellite (North America/Canada)">enableCDGPS_</a>;
<a name="l00167"></a><a class="code" href="classgbxnovatelacfr_1_1Config.html#a065a8fe034851f90da0964dd6a3edeb8">00167</a> <span class="keywordtype">bool</span> <a class="code" href="classgbxnovatelacfr_1_1Config.html#a065a8fe034851f90da0964dd6a3edeb8" title="code-differential corrections over satellite on GPS frequencies (WAAS/EGNOS)">enableSBAS_</a>;
<a name="l00168"></a><a class="code" href="classgbxnovatelacfr_1_1Config.html#afc4954d53d1dc523b0aa9f285570cae4">00168</a> <span class="keywordtype">bool</span> <a class="code" href="classgbxnovatelacfr_1_1Config.html#afc4954d53d1dc523b0aa9f285570cae4" title="carrier-differential corrections (you need to set up your own base-station and wireless...">enableRTK_</a>;
<a name="l00169"></a><a class="code" href="classgbxnovatelacfr_1_1Config.html#a1c6793512613df22e5a21e1445967d09">00169</a> <span class="keywordtype">bool</span> <a class="code" href="classgbxnovatelacfr_1_1Config.html#a1c6793512613df22e5a21e1445967d09" title="carrier-differential corrections OMNIStarXP/HP (you need to get a subscription with...">enableUseOfOmniStarCarrier_</a>;
<a name="l00170"></a>00170
<a name="l00172"></a>00172
<a name="l00178"></a>00178 <span class="comment">//</span>
<a name="l00180"></a>00180 <span class="comment"></span> <span class="keywordtype">bool</span> enableSetImuOrientation_;
<a name="l00181"></a>00181 <span class="keywordtype">int</span> setImuOrientation_;
<a name="l00182"></a>00182 <span class="keywordtype">bool</span> enableVehicleBodyRotation_;
<a name="l00183"></a>00183 std::vector<double > vehicleBodyRotation_;
<a name="l00184"></a><a class="code" href="classgbxnovatelacfr_1_1Config.html#acb7a86c2ed3121d71a35148e8b2cda42">00184</a> std::vector<double > <a class="code" href="classgbxnovatelacfr_1_1Config.html#acb7a86c2ed3121d71a35148e8b2cda42" title="optional (size 3 or 0)">vehicleBodyRotationUncertainty_</a>;
<a name="l00185"></a>00185
<a name="l00187"></a>00187 <span class="keyword">private</span>:
<a name="l00188"></a>00188 };
<a name="l00189"></a>00189
<a name="l00191"></a><a class="code" href="namespacegbxnovatelacfr.html#a892d0cf3ae6a462f2204662127e2ddf4">00191</a> <span class="keyword">enum</span> <a class="code" href="namespacegbxnovatelacfr.html#a892d0cf3ae6a462f2204662127e2ddf4" title="possible Status Messages GenericData can contain">StatusMessageType</a> {
<a name="l00192"></a><a class="code" href="namespacegbxnovatelacfr.html#a892d0cf3ae6a462f2204662127e2ddf4a429cea4c7341e75959e6cf20762c1607">00192</a> <a class="code" href="namespacegbxnovatelacfr.html#a892d0cf3ae6a462f2204662127e2ddf4a429cea4c7341e75959e6cf20762c1607" title="Nothing new, no message.">NoMsg</a>,
<a name="l00193"></a><a class="code" href="namespacegbxnovatelacfr.html#a892d0cf3ae6a462f2204662127e2ddf4adc1da49cf0b2a52f89afe393bb973992">00193</a> <a class="code" href="namespacegbxnovatelacfr.html#a892d0cf3ae6a462f2204662127e2ddf4adc1da49cf0b2a52f89afe393bb973992" title="Nothing wrong, just not quite ready.">Initialising</a>,
<a name="l00194"></a><a class="code" href="namespacegbxnovatelacfr.html#a892d0cf3ae6a462f2204662127e2ddf4a149ff91a32185f961f765265f013b25f">00194</a> <a class="code" href="namespacegbxnovatelacfr.html#a892d0cf3ae6a462f2204662127e2ddf4a149ff91a32185f961f765265f013b25f" title="All good, but something to say.">Ok</a>,
<a name="l00195"></a><a class="code" href="namespacegbxnovatelacfr.html#a892d0cf3ae6a462f2204662127e2ddf4ad6e21f7788c28ea35b697791abab62f4">00195</a> <a class="code" href="namespacegbxnovatelacfr.html#a892d0cf3ae6a462f2204662127e2ddf4ad6e21f7788c28ea35b697791abab62f4" title="Problem, likely to go away.">Warning</a>,
<a name="l00196"></a><a class="code" href="namespacegbxnovatelacfr.html#a892d0cf3ae6a462f2204662127e2ddf4ab57693c890c1f4d73a73d16d7ab33024">00196</a> <a class="code" href="namespacegbxnovatelacfr.html#a892d0cf3ae6a462f2204662127e2ddf4ab57693c890c1f4d73a73d16d7ab33024" title="Problem, probably fatal.">Fault</a>
<a name="l00197"></a>00197 };
<a name="l00198"></a>00198
<a name="l00200"></a>00200 std::string <a class="code" href="namespacegbxnovatelacfr.html#a2bf8173fd66a28fe94ac7d7ad0daf254" title="Convert a StatusMessageType into a string.">toString</a>( <a class="code" href="namespacegbxnovatelacfr.html#a892d0cf3ae6a462f2204662127e2ddf4" title="possible Status Messages GenericData can contain">StatusMessageType</a> type );
<a name="l00201"></a>00201
<a name="l00202"></a>00202
<a name="l00204"></a>00204 <span class="comment">//</span>
<a name="l00206"></a><a class="code" href="namespacegbxnovatelacfr.html#a76727d7e919fb6da85bfb96af81c8b54">00206</a> <span class="comment"></span><span class="keyword">enum</span> <a class="code" href="namespacegbxnovatelacfr.html#a76727d7e919fb6da85bfb96af81c8b54" title="Novatel&#39;s different solution status types.">GpsSolutionStatusType</a>{
<a name="l00207"></a><a class="code" href="namespacegbxnovatelacfr.html#a76727d7e919fb6da85bfb96af81c8b54a70131388c5533acf4e6cc471ec9d0e83">00207</a> <a class="code" href="namespacegbxnovatelacfr.html#a76727d7e919fb6da85bfb96af81c8b54a70131388c5533acf4e6cc471ec9d0e83" title="Solution computed.">SolComputed</a>=0,
<a name="l00208"></a><a class="code" href="namespacegbxnovatelacfr.html#a76727d7e919fb6da85bfb96af81c8b54ab62adf98b47245f7061048a4452c0187">00208</a> <a class="code" href="namespacegbxnovatelacfr.html#a76727d7e919fb6da85bfb96af81c8b54ab62adf98b47245f7061048a4452c0187" title="Insufficient observations.">InsufficientObs</a>=1,
<a name="l00209"></a><a class="code" href="namespacegbxnovatelacfr.html#a76727d7e919fb6da85bfb96af81c8b54a828a927edc927e01f482e7f94a12f076">00209</a> <a class="code" href="namespacegbxnovatelacfr.html#a76727d7e919fb6da85bfb96af81c8b54a828a927edc927e01f482e7f94a12f076" title="No convergence.">NoConvergence</a>=2,
<a name="l00210"></a><a class="code" href="namespacegbxnovatelacfr.html#a76727d7e919fb6da85bfb96af81c8b54ac74b82068eb5cdbba51d0276498f2eb5">00210</a> <a class="code" href="namespacegbxnovatelacfr.html#a76727d7e919fb6da85bfb96af81c8b54ac74b82068eb5cdbba51d0276498f2eb5" title="Singularity at parameters matrix.">Singularity</a>=3,
<a name="l00211"></a><a class="code" href="namespacegbxnovatelacfr.html#a76727d7e919fb6da85bfb96af81c8b54a6e17222d9f73e648c7a18a77fac63fbe">00211</a> <a class="code" href="namespacegbxnovatelacfr.html#a76727d7e919fb6da85bfb96af81c8b54a6e17222d9f73e648c7a18a77fac63fbe" title="Covariance trace exceeds maximum (trace &gt; 1000 m).">CovTrace</a>=4,
<a name="l00212"></a><a class="code" href="namespacegbxnovatelacfr.html#a76727d7e919fb6da85bfb96af81c8b54a338f09ec176a7444b2df2e68b86e4836">00212</a> <a class="code" href="namespacegbxnovatelacfr.html#a76727d7e919fb6da85bfb96af81c8b54a338f09ec176a7444b2df2e68b86e4836" title="Test distance exceeded (maximum of 3 rejections if distance &gt; 10 km).">TestDist</a>=5,
<a name="l00213"></a><a class="code" href="namespacegbxnovatelacfr.html#a76727d7e919fb6da85bfb96af81c8b54af82e16ca6e2d40e174635e76f3c16ffa">00213</a> <a class="code" href="namespacegbxnovatelacfr.html#a76727d7e919fb6da85bfb96af81c8b54af82e16ca6e2d40e174635e76f3c16ffa" title="Not yet converged from cold start.">ColdStart</a>=6,
<a name="l00214"></a><a class="code" href="namespacegbxnovatelacfr.html#a76727d7e919fb6da85bfb96af81c8b54a0e3b8f712e1f358caa06a337dc5b6173">00214</a> <a class="code" href="namespacegbxnovatelacfr.html#a76727d7e919fb6da85bfb96af81c8b54a0e3b8f712e1f358caa06a337dc5b6173" title="Height or velocity limits exceeded (in accordance with COCOM export licensing restrictions)...">VHLimit</a>=7,
<a name="l00215"></a><a class="code" href="namespacegbxnovatelacfr.html#a76727d7e919fb6da85bfb96af81c8b54a92fc0d3e8ec911c6be1e03dfb774fbed">00215</a> <a class="code" href="namespacegbxnovatelacfr.html#a76727d7e919fb6da85bfb96af81c8b54a92fc0d3e8ec911c6be1e03dfb774fbed" title="Variance exceeds limits.">Variance</a>=8,
<a name="l00216"></a><a class="code" href="namespacegbxnovatelacfr.html#a76727d7e919fb6da85bfb96af81c8b54a8601cd6fbe08a2e5b2c99aaec4338a6c">00216</a> <a class="code" href="namespacegbxnovatelacfr.html#a76727d7e919fb6da85bfb96af81c8b54a8601cd6fbe08a2e5b2c99aaec4338a6c" title="Residuals are too large.">Residuals</a>=9,
<a name="l00217"></a><a class="code" href="namespacegbxnovatelacfr.html#a76727d7e919fb6da85bfb96af81c8b54ae664411c2ba8c5162e5b9674f0a2421d">00217</a> <a class="code" href="namespacegbxnovatelacfr.html#a76727d7e919fb6da85bfb96af81c8b54ae664411c2ba8c5162e5b9674f0a2421d" title="Delta position is too large.">DeltaPos</a>=10,
<a name="l00218"></a><a class="code" href="namespacegbxnovatelacfr.html#a76727d7e919fb6da85bfb96af81c8b54a6c50f6b182c560487fcf7a18290a77b3">00218</a> <a class="code" href="namespacegbxnovatelacfr.html#a76727d7e919fb6da85bfb96af81c8b54a6c50f6b182c560487fcf7a18290a77b3" title="Negative variance.">NegativeVar</a>=11,
<a name="l00219"></a><a class="code" href="namespacegbxnovatelacfr.html#a76727d7e919fb6da85bfb96af81c8b54ac4e9356ccc900bbb404b553929093737">00219</a> <a class="code" href="namespacegbxnovatelacfr.html#a76727d7e919fb6da85bfb96af81c8b54ac4e9356ccc900bbb404b553929093737" title="Value Reserved for future use.">ReservedGpsSolutionStatusType12</a>=12,
<a name="l00220"></a><a class="code" href="namespacegbxnovatelacfr.html#a76727d7e919fb6da85bfb96af81c8b54acea8c3d076e82821d3ab1e4476ac7fd7">00220</a> <a class="code" href="namespacegbxnovatelacfr.html#a76727d7e919fb6da85bfb96af81c8b54acea8c3d076e82821d3ab1e4476ac7fd7" title="Large residuals make position unreliable.">IntegrityWarning</a>=13,
<a name="l00221"></a><a class="code" href="namespacegbxnovatelacfr.html#a76727d7e919fb6da85bfb96af81c8b54aa9e7b63ddd4df8ee99d805e76066f891">00221</a> <a class="code" href="namespacegbxnovatelacfr.html#a76727d7e919fb6da85bfb96af81c8b54aa9e7b63ddd4df8ee99d805e76066f891" title="INS has not started yet.">InsInactive</a>=14,
<a name="l00222"></a><a class="code" href="namespacegbxnovatelacfr.html#a76727d7e919fb6da85bfb96af81c8b54a477e81ce670340db961cba79f30a267d">00222</a> <a class="code" href="namespacegbxnovatelacfr.html#a76727d7e919fb6da85bfb96af81c8b54a477e81ce670340db961cba79f30a267d" title="INS doing its coarse alignment.">InsAligning</a>=15,
<a name="l00223"></a><a class="code" href="namespacegbxnovatelacfr.html#a76727d7e919fb6da85bfb96af81c8b54a5c65b7e36959892c230afa8bfe804bc1">00223</a> <a class="code" href="namespacegbxnovatelacfr.html#a76727d7e919fb6da85bfb96af81c8b54a5c65b7e36959892c230afa8bfe804bc1" title="INS position is bad.">InsBad</a>=16,
<a name="l00224"></a><a class="code" href="namespacegbxnovatelacfr.html#a76727d7e919fb6da85bfb96af81c8b54a799516ed4ebbc817cf10a76c39356dff">00224</a> <a class="code" href="namespacegbxnovatelacfr.html#a76727d7e919fb6da85bfb96af81c8b54a799516ed4ebbc817cf10a76c39356dff" title="No IMU detected.">ImuUnplugged</a>=17,
<a name="l00225"></a><a class="code" href="namespacegbxnovatelacfr.html#a76727d7e919fb6da85bfb96af81c8b54a59655a9002286c75ecb04f24ea74d180">00225</a> <a class="code" href="namespacegbxnovatelacfr.html#a76727d7e919fb6da85bfb96af81c8b54a59655a9002286c75ecb04f24ea74d180" title="When a FIX POSITION command is entered, the receiver computes its own position and...">Pending</a>=18,
<a name="l00226"></a><a class="code" href="namespacegbxnovatelacfr.html#a76727d7e919fb6da85bfb96af81c8b54af4b0f26c3e80acfc035239022a9b30b8">00226</a> <a class="code" href="namespacegbxnovatelacfr.html#a76727d7e919fb6da85bfb96af81c8b54af4b0f26c3e80acfc035239022a9b30b8" title="The fixed position, entered using the FIX POSITION command, is not valid.">InvalidFix</a>=19,
<a name="l00227"></a>00227 UnknownGpsSolutionStatusType
<a name="l00228"></a>00228 };
<a name="l00229"></a>00229
<a name="l00231"></a>00231 std::string <a class="code" href="namespacegbxnovatelacfr.html#a2bf8173fd66a28fe94ac7d7ad0daf254" title="Convert a StatusMessageType into a string.">toString</a>( <a class="code" href="namespacegbxnovatelacfr.html#a76727d7e919fb6da85bfb96af81c8b54" title="Novatel&#39;s different solution status types.">GpsSolutionStatusType</a> type );
<a name="l00232"></a>00232
<a name="l00234"></a>00234 <span class="comment">//</span>
<a name="l00236"></a><a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8">00236</a> <span class="comment"></span><span class="keyword">enum</span> <a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8" title="Novatel&#39;s different fix types.">GpsPosVelType</a>{
<a name="l00237"></a><a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8aaa973a8365a3489c8e3abbb0a4549369">00237</a> <a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8aaa973a8365a3489c8e3abbb0a4549369" title="No solution.">None</a>=0,
<a name="l00238"></a><a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8a0d5cd2d17d8f4398facd5c46049e1f21">00238</a> <a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8a0d5cd2d17d8f4398facd5c46049e1f21" title="Position has been fixed by the FIX POSITION command or by position averaging.">FixedPos</a>=1,
<a name="l00239"></a><a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8aac3d2335e4aa57af855801bf83aa123a">00239</a> <a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8aac3d2335e4aa57af855801bf83aa123a" title="Position has been fixed by the FIX HEIGHT, or FIX AUTO, command or by position averaging...">FixedHeight</a>=2,
<a name="l00240"></a><a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8a0d3599566fbbcca0d5f8aadd8cf80c23">00240</a> <a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8a0d3599566fbbcca0d5f8aadd8cf80c23" title="Value Reserved for future use.">ReservedGpsPosVelType3</a>=3,
<a name="l00241"></a><a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8aad5df05d1d2d2dbdb51601a275daa801">00241</a> <a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8aad5df05d1d2d2dbdb51601a275daa801" title="Solution from floating point carrier phase ambiguities.">FloatConv</a>=4,
<a name="l00242"></a><a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8a769acc5248b9b6420251fc2520c4f8d6">00242</a> <a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8a769acc5248b9b6420251fc2520c4f8d6" title="Solution from wide-lane ambiguities.">WideLane</a>=5,
<a name="l00243"></a><a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8a8029094834ea67757e22078688bfe82f">00243</a> <a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8a8029094834ea67757e22078688bfe82f" title="Solution from narrow-lane ambiguities.">NarrowLane</a>=6,
<a name="l00244"></a><a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8a20ec14d07253544c15ef43c565c63a3a">00244</a> <a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8a20ec14d07253544c15ef43c565c63a3a" title="Value Reserved for future use.">ReservedGpsPosVelType7</a>=7,
<a name="l00245"></a><a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8a88c1ae020c25e9f68179a041405a73c4">00245</a> <a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8a88c1ae020c25e9f68179a041405a73c4" title="Velocity computed using instantaneous Doppler.">DopplerVelocity</a>=8,
<a name="l00246"></a><a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8a26bdf1673e92a902dcdca628d6fee0cc">00246</a> <a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8a26bdf1673e92a902dcdca628d6fee0cc" title="Value Reserved for future use.">ReservedGpsPosVelType9</a>=9,
<a name="l00247"></a><a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8a209ce7078cdfe3a407000a0ec654848b">00247</a> <a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8a209ce7078cdfe3a407000a0ec654848b" title="Value Reserved for future use.">ReservedGpsPosVelType10</a>=10,
<a name="l00248"></a><a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8a1a3a985ef66b5f46197c81635e96a073">00248</a> <a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8a1a3a985ef66b5f46197c81635e96a073" title="Value Reserved for future use.">ReservedGpsPosVelType11</a>=11,
<a name="l00249"></a><a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8a5d84d6b10747d044f24d7ba5272709fe">00249</a> <a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8a5d84d6b10747d044f24d7ba5272709fe" title="Value Reserved for future use.">ReservedGpsPosVelType12</a>=12,
<a name="l00250"></a><a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8ade99a64e6271ceb1f4fd2fe3245d0c4c">00250</a> <a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8ade99a64e6271ceb1f4fd2fe3245d0c4c" title="Value Reserved for future use.">ReservedGpsPosVelType13</a>=13,
<a name="l00251"></a><a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8ab24ce9c0f8775fb782de2c083c71531b">00251</a> <a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8ab24ce9c0f8775fb782de2c083c71531b" title="Value Reserved for future use.">ReservedGpsPosVelType14</a>=14,
<a name="l00252"></a><a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8a1f8f75f7f69651f197a31b8cf864943b">00252</a> <a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8a1f8f75f7f69651f197a31b8cf864943b" title="Value Reserved for future use.">ReservedGpsPosVelType15</a>=15,
<a name="l00253"></a><a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8aed6d85e8e19d116b2e64fb7c482f67f9">00253</a> <a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8aed6d85e8e19d116b2e64fb7c482f67f9" title="Single point position.">Single</a>=16,
<a name="l00254"></a><a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8a30cf29f1304ea2d0e408a682f17067e0">00254</a> <a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8a30cf29f1304ea2d0e408a682f17067e0" title="Pseudorange differential solution.">PsrDiff</a>=17,
<a name="l00255"></a><a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8ae5132daf7e3a6962c20bcd83b914ee1d">00255</a> <a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8ae5132daf7e3a6962c20bcd83b914ee1d" title="Solution calculated using corrections from an SBAS.">Waas</a>=18,
<a name="l00256"></a><a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8a08e799ab203307469199c7a367818ad9">00256</a> <a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8a08e799ab203307469199c7a367818ad9" title="Propagated by a Kalman filter without new observations.">Propagated</a>=19,
<a name="l00257"></a><a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8a6f00cf060508029c9737ed6d4ea58c39">00257</a> <a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8a6f00cf060508029c9737ed6d4ea58c39" title="OmniSTAR VBS position (L1 sub-meter) a.">Omnistar</a>=20,
<a name="l00258"></a><a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8a4d340f3bd40563462f5f806ff3589ddf">00258</a> <a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8a4d340f3bd40563462f5f806ff3589ddf" title="Value Reserved for future use.">ReservedGpsPosVelType21</a>=21,
<a name="l00259"></a><a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8af714c42f566d2377ff8fe75ed6f00938">00259</a> <a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8af714c42f566d2377ff8fe75ed6f00938" title="Value Reserved for future use.">ReservedGpsPosVelType22</a>=22,
<a name="l00260"></a><a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8a137f4dfb817cbb4e1fa605cc816b5ea5">00260</a> <a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8a137f4dfb817cbb4e1fa605cc816b5ea5" title="Value Reserved for future use.">ReservedGpsPosVelType23</a>=23,
<a name="l00261"></a><a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8ae378c8b637cf5b663a6ce624968efffd">00261</a> <a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8ae378c8b637cf5b663a6ce624968efffd" title="Value Reserved for future use.">ReservedGpsPosVelType24</a>=24,
<a name="l00262"></a><a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8acecbb3f7d31cfb5dd54c49271e8b7c84">00262</a> <a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8acecbb3f7d31cfb5dd54c49271e8b7c84" title="Value Reserved for future use.">ReservedGpsPosVelType25</a>=25,
<a name="l00263"></a><a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8a57f5c1b386676ea378df763af14c6b76">00263</a> <a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8a57f5c1b386676ea378df763af14c6b76" title="Value Reserved for future use.">ReservedGpsPosVelType26</a>=26,
<a name="l00264"></a><a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8a41f17b193a6283e21e0b378b3ff9b5f2">00264</a> <a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8a41f17b193a6283e21e0b378b3ff9b5f2" title="Value Reserved for future use.">ReservedGpsPosVelType27</a>=27,
<a name="l00265"></a><a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8a73399528e37da68f888ec06d94b967dc">00265</a> <a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8a73399528e37da68f888ec06d94b967dc" title="Value Reserved for future use.">ReservedGpsPosVelType28</a>=28,
<a name="l00266"></a><a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8ace1fd2ebb9c7b88af6651f871eb3cc83">00266</a> <a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8ace1fd2ebb9c7b88af6651f871eb3cc83" title="Value Reserved for future use.">ReservedGpsPosVelType29</a>=29,
<a name="l00267"></a><a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8a9061e10ba51af16c1f3484b217382d95">00267</a> <a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8a9061e10ba51af16c1f3484b217382d95" title="Value Reserved for future use.">ReservedGpsPosVelType30</a>=30,
<a name="l00268"></a><a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8aba2e9549c8b810bebc6a06645f16cccc">00268</a> <a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8aba2e9549c8b810bebc6a06645f16cccc" title="Value Reserved for future use.">ReservedGpsPosVelType31</a>=31,
<a name="l00269"></a><a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8a36f94ebe1ce1ca59c60f2c6fa953942c">00269</a> <a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8a36f94ebe1ce1ca59c60f2c6fa953942c" title="Floating L1 ambiguity solution.">L1Float</a>=32,
<a name="l00270"></a><a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8afba6d6424b9e5c94f18b3cbd54f85961">00270</a> <a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8afba6d6424b9e5c94f18b3cbd54f85961" title="Floating ionospheric-free ambiguity solution.">IonoFreeFloat</a>=33,
<a name="l00271"></a><a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8a28b6f9eca4600d231c5b0c2299a5951f">00271</a> <a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8a28b6f9eca4600d231c5b0c2299a5951f" title="Floating narrow-lane ambiguity solution.">NarrowFloat</a>=34,
<a name="l00272"></a><a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8a2834891bff95ff0fc406a4c364dd2dea">00272</a> <a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8a2834891bff95ff0fc406a4c364dd2dea" title="Integer L1 ambiguity solution.">L1Int</a>=48,
<a name="l00273"></a><a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8a93fc5ca3755efe91f72202e7c1e6916f">00273</a> <a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8a93fc5ca3755efe91f72202e7c1e6916f" title="Integer wide-lane ambiguity solution.">WideInt</a>=49,
<a name="l00274"></a><a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8ab92eecce206cdd7477b39ba8b325e6eb">00274</a> <a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8ab92eecce206cdd7477b39ba8b325e6eb" title="Integer narrow-lane ambiguity solution.">NarrowInt</a>=50,
<a name="l00275"></a><a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8ae8837c65496e22c6f906ca446ff2333f">00275</a> <a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8ae8837c65496e22c6f906ca446ff2333f" title="RTK status where the RTK filter is directly initialized from the INS filter. b.">RtkDirectIns</a>=51,
<a name="l00276"></a><a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8aba3e73cf684e5fdb06c6e75fff3d33f7">00276</a> <a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8aba3e73cf684e5fdb06c6e75fff3d33f7" title="INS calculated position corrected for the antenna b.">Ins</a>=52,
<a name="l00277"></a><a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8aea025e9edfc161c523ce71058c273aa9">00277</a> <a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8aea025e9edfc161c523ce71058c273aa9" title="INS pseudorange single point solution - no DGPS corrections b.">InsPsrSp</a>=53,
<a name="l00278"></a><a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8a85a864e88a0ee99ac634260ada887a62">00278</a> <a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8a85a864e88a0ee99ac634260ada887a62" title="INS pseudorange differential solution b.">InsPsrDiff</a>=54,
<a name="l00279"></a><a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8a8200b1fa1dd29b4615fa9055041972ff">00279</a> <a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8a8200b1fa1dd29b4615fa9055041972ff" title="INS RTK floating point ambiguities solution b.">InsRtkFloat</a>=55,
<a name="l00280"></a><a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8a6bc999b3c61755dbda08043b993428bf">00280</a> <a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8a6bc999b3c61755dbda08043b993428bf" title="INS RTK fixed ambiguities solution b.">InsRtkFixed</a>=56,
<a name="l00281"></a><a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8ac1f25a7772b53bcb6b104634409c8b68">00281</a> <a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8ac1f25a7772b53bcb6b104634409c8b68" title="OmniSTAR high precision a.">OmniStarHp</a>=64,
<a name="l00282"></a><a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8ab1abec5588199d279e758541a56ec191">00282</a> <a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8ab1abec5588199d279e758541a56ec191" title="OmniSTAR extra precision a.">OmniStarXp</a>=65,
<a name="l00283"></a><a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8a3eb5b6f41a2e5011ba496fd4daeb5f43">00283</a> <a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8a3eb5b6f41a2e5011ba496fd4daeb5f43" title="Position solution using CDGPS corrections.">CdGps</a>=66,
<a name="l00284"></a>00284 UnknownGpsPosVelType
<a name="l00285"></a>00285 };
<a name="l00286"></a>00286
<a name="l00288"></a>00288 std::string <a class="code" href="namespacegbxnovatelacfr.html#a2bf8173fd66a28fe94ac7d7ad0daf254" title="Convert a StatusMessageType into a string.">toString</a>( <a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8" title="Novatel&#39;s different fix types.">GpsPosVelType</a> type );
<a name="l00289"></a>00289
<a name="l00291"></a><a class="code" href="namespacegbxnovatelacfr.html#a865b7d87264a168a988d41e1f0aaea09">00291</a> <span class="keyword">enum</span> <a class="code" href="namespacegbxnovatelacfr.html#a865b7d87264a168a988d41e1f0aaea09" title="possible types GenericData can contain">DataType</a> {
<a name="l00293"></a><a class="code" href="namespacegbxnovatelacfr.html#a865b7d87264a168a988d41e1f0aaea09a2fc2514a2670c9b824aab4f82d437729">00293</a> <a class="code" href="namespacegbxnovatelacfr.html#a865b7d87264a168a988d41e1f0aaea09a2fc2514a2670c9b824aab4f82d437729" title="GenericData is really InsPvaData.">InsPva</a>,
<a name="l00295"></a><a class="code" href="namespacegbxnovatelacfr.html#a865b7d87264a168a988d41e1f0aaea09a4eac3c11d024d0616bbe3db174653b64">00295</a> <a class="code" href="namespacegbxnovatelacfr.html#a865b7d87264a168a988d41e1f0aaea09a4eac3c11d024d0616bbe3db174653b64" title="GenericData is really BestGpsPosData.">BestGpsPos</a>,
<a name="l00297"></a><a class="code" href="namespacegbxnovatelacfr.html#a865b7d87264a168a988d41e1f0aaea09a2f1da9aaece986839cb6ea72dab8a93a">00297</a> <a class="code" href="namespacegbxnovatelacfr.html#a865b7d87264a168a988d41e1f0aaea09a2f1da9aaece986839cb6ea72dab8a93a" title="GenericData is really BestGpsVelData.">BestGpsVel</a>,
<a name="l00299"></a><a class="code" href="namespacegbxnovatelacfr.html#a865b7d87264a168a988d41e1f0aaea09a5d28cd0f780779a0228b2a4241e292ec">00299</a> <a class="code" href="namespacegbxnovatelacfr.html#a865b7d87264a168a988d41e1f0aaea09a5d28cd0f780779a0228b2a4241e292ec" title="GenericData is really RawImuData.">RawImu</a>
<a name="l00300"></a>00300 };
<a name="l00301"></a>00301
<a name="l00303"></a><a class="code" href="classgbxnovatelacfr_1_1GenericData.html">00303</a> <span class="keyword">class </span><a class="code" href="classgbxnovatelacfr_1_1GenericData.html" title="Generic (base) type returned by a read.">GenericData</a> {
<a name="l00304"></a>00304 <span class="keyword">public</span>:
<a name="l00305"></a>00305 <span class="keyword">virtual</span> ~<a class="code" href="classgbxnovatelacfr_1_1GenericData.html" title="Generic (base) type returned by a read.">GenericData</a>(){};
<a name="l00306"></a>00306 <span class="keyword">virtual</span> <a class="code" href="namespacegbxnovatelacfr.html#a865b7d87264a168a988d41e1f0aaea09" title="possible types GenericData can contain">DataType</a> type() <span class="keyword">const</span>=0;
<a name="l00307"></a>00307 <span class="keyword">virtual</span> std::string toString() <span class="keyword">const</span>=0;
<a name="l00308"></a>00308 <span class="keyword">private</span>:
<a name="l00309"></a>00309 };
<a name="l00310"></a>00310
<a name="l00312"></a><a class="code" href="classgbxnovatelacfr_1_1InsPvaData.html">00312</a> <span class="keyword">class </span><a class="code" href="classgbxnovatelacfr_1_1InsPvaData.html" title="INS position/velocity/attitude information.">InsPvaData</a> : <span class="keyword">public</span> <a class="code" href="classgbxnovatelacfr_1_1GenericData.html" title="Generic (base) type returned by a read.">GenericData</a> {
<a name="l00313"></a>00313 <span class="keyword">public</span>:
<a name="l00314"></a>00314 <a class="code" href="namespacegbxnovatelacfr.html#a865b7d87264a168a988d41e1f0aaea09" title="possible types GenericData can contain">DataType</a> type()<span class="keyword"> const </span>{
<a name="l00315"></a>00315 <span class="keywordflow">return</span> <a class="code" href="namespacegbxnovatelacfr.html#a865b7d87264a168a988d41e1f0aaea09a2fc2514a2670c9b824aab4f82d437729" title="GenericData is really InsPvaData.">InsPva</a>;
<a name="l00316"></a>00316 }
<a name="l00317"></a>00317 std::string toString() <span class="keyword">const</span>;
<a name="l00318"></a><a class="code" href="classgbxnovatelacfr_1_1InsPvaData.html#aaf927bda43028a324b835f3ec8254c06">00318</a> <span class="keywordtype">int</span> <a class="code" href="classgbxnovatelacfr_1_1InsPvaData.html#aaf927bda43028a324b835f3ec8254c06" title="number of full weeks since midnight 05/Jan/1980 (UTC)">gpsWeekNr</a>;
<a name="l00319"></a><a class="code" href="classgbxnovatelacfr_1_1InsPvaData.html#a6f31f600a385ea8f849db7c8c12a92be">00319</a> <span class="keywordtype">double</span> <a class="code" href="classgbxnovatelacfr_1_1InsPvaData.html#a6f31f600a385ea8f849db7c8c12a92be" title="yields GPS-time (together with gpsWeekNr); continous (contrary to UTC which uses...">secIntoWeek</a>;
<a name="l00320"></a><a class="code" href="classgbxnovatelacfr_1_1InsPvaData.html#a67812408dae57bd82c4490601cb0ebac">00320</a> <span class="keywordtype">double</span> <a class="code" href="classgbxnovatelacfr_1_1InsPvaData.html#a67812408dae57bd82c4490601cb0ebac" title="[deg] north positive WGS84">latitude</a>;
<a name="l00321"></a><a class="code" href="classgbxnovatelacfr_1_1InsPvaData.html#ad70f71a5a8ab0343090a2f07baa1f939">00321</a> <span class="keywordtype">double</span> <a class="code" href="classgbxnovatelacfr_1_1InsPvaData.html#ad70f71a5a8ab0343090a2f07baa1f939" title="[deg] east positive WGS84">longitude</a>;
<a name="l00322"></a><a class="code" href="classgbxnovatelacfr_1_1InsPvaData.html#a013ab74666d1f68906099c11bee58fe2">00322</a> <span class="keywordtype">double</span> <a class="code" href="classgbxnovatelacfr_1_1InsPvaData.html#a013ab74666d1f68906099c11bee58fe2" title="[m] above ellipsoid WGS84 (heigth_ellipsoid - undulation == height_geoid (aka AMSL)...">height</a>;
<a name="l00323"></a>00323
<a name="l00326"></a>00326 <span class="comment">//</span>
<a name="l00328"></a><a class="code" href="classgbxnovatelacfr_1_1InsPvaData.html#ad14f38ba8fa6f62a9dee4fbe8356e160">00328</a> <span class="comment"></span> <span class="keywordtype">double</span> <a class="code" href="classgbxnovatelacfr_1_1InsPvaData.html#ad14f38ba8fa6f62a9dee4fbe8356e160" title="[m/s] south is negative">northVelocity</a>;
<a name="l00329"></a><a class="code" href="classgbxnovatelacfr_1_1InsPvaData.html#aef34543284e8b861af18d9becdd3259a">00329</a> <span class="keywordtype">double</span> <a class="code" href="classgbxnovatelacfr_1_1InsPvaData.html#aef34543284e8b861af18d9becdd3259a" title="[m/s] west is negative">eastVelocity</a>;
<a name="l00330"></a><a class="code" href="classgbxnovatelacfr_1_1InsPvaData.html#afa0d76ecb401ac5024f563ca0ac5c8aa">00330</a> <span class="keywordtype">double</span> <a class="code" href="classgbxnovatelacfr_1_1InsPvaData.html#afa0d76ecb401ac5024f563ca0ac5c8aa" title="[m/s] down is negative">upVelocity</a>;
<a name="l00331"></a>00331
<a name="l00333"></a>00333
<a name="l00336"></a>00336 <span class="comment">//</span>
<a name="l00338"></a><a class="code" href="classgbxnovatelacfr_1_1InsPvaData.html#a0ce07cd6bc331dd559e45c499e8eb7d1">00338</a> <span class="comment"></span> <span class="keywordtype">double</span> <a class="code" href="classgbxnovatelacfr_1_1InsPvaData.html#a0ce07cd6bc331dd559e45c499e8eb7d1" title="[degree] right handed rotation from local level around y-axes">roll</a>;
<a name="l00339"></a><a class="code" href="classgbxnovatelacfr_1_1InsPvaData.html#ae4936e018972d9e5302434ab5c4442ff">00339</a> <span class="keywordtype">double</span> <a class="code" href="classgbxnovatelacfr_1_1InsPvaData.html#ae4936e018972d9e5302434ab5c4442ff" title="[degree] right handed rotation from local level around x-axes">pitch</a>;
<a name="l00340"></a><a class="code" href="classgbxnovatelacfr_1_1InsPvaData.html#a393645a68f924eb91af03b6070acedd4">00340</a> <span class="keywordtype">double</span> <a class="code" href="classgbxnovatelacfr_1_1InsPvaData.html#a393645a68f924eb91af03b6070acedd4" title="[degree] left handed around z-axes rotation from (true?) north clockwise">azimuth</a>;
<a name="l00341"></a>00341
<a name="l00343"></a>00343
<a name="l00344"></a>00344 <a class="code" href="namespacegbxnovatelacfr.html#a892d0cf3ae6a462f2204662127e2ddf4" title="possible Status Messages GenericData can contain">StatusMessageType</a> statusMessageType;
<a name="l00345"></a>00345 std::string statusMessage;
<a name="l00346"></a>00346
<a name="l00347"></a><a class="code" href="classgbxnovatelacfr_1_1InsPvaData.html#a33cf22b113864b9629df7929cee65a21">00347</a> <span class="keywordtype">int</span> <a class="code" href="classgbxnovatelacfr_1_1InsPvaData.html#a33cf22b113864b9629df7929cee65a21" title="in Computer time, beginning of message at serial port">timeStampSec</a>;
<a name="l00348"></a><a class="code" href="classgbxnovatelacfr_1_1InsPvaData.html#a3922fd6326cb3da0074a026d68397e43">00348</a> <span class="keywordtype">int</span> <a class="code" href="classgbxnovatelacfr_1_1InsPvaData.html#a3922fd6326cb3da0074a026d68397e43" title="in Computer time, beginning of message at serial port">timeStampUSec</a>;
<a name="l00349"></a>00349 };
<a name="l00350"></a>00350
<a name="l00352"></a><a class="code" href="classgbxnovatelacfr_1_1BestGpsPosData.html">00352</a> <span class="keyword">class </span><a class="code" href="classgbxnovatelacfr_1_1BestGpsPosData.html" title="Gps position information.">BestGpsPosData</a> : <span class="keyword">public</span> <a class="code" href="classgbxnovatelacfr_1_1GenericData.html" title="Generic (base) type returned by a read.">GenericData</a> {
<a name="l00353"></a>00353 <span class="keyword">public</span>:
<a name="l00354"></a>00354 <a class="code" href="namespacegbxnovatelacfr.html#a865b7d87264a168a988d41e1f0aaea09" title="possible types GenericData can contain">DataType</a> type()<span class="keyword"> const </span>{
<a name="l00355"></a>00355 <span class="keywordflow">return</span> <a class="code" href="namespacegbxnovatelacfr.html#a865b7d87264a168a988d41e1f0aaea09a4eac3c11d024d0616bbe3db174653b64" title="GenericData is really BestGpsPosData.">BestGpsPos</a>;
<a name="l00356"></a>00356 }
<a name="l00357"></a>00357 std::string toString() <span class="keyword">const</span>;
<a name="l00358"></a><a class="code" href="classgbxnovatelacfr_1_1BestGpsPosData.html#a7a65a4a8775bea2357076b8f09ffb74f">00358</a> <span class="keywordtype">int</span> <a class="code" href="classgbxnovatelacfr_1_1BestGpsPosData.html#a7a65a4a8775bea2357076b8f09ffb74f" title="number of full weeks since midnight 05/Jan/1980 (UTC)">gpsWeekNr</a>;
<a name="l00359"></a><a class="code" href="classgbxnovatelacfr_1_1BestGpsPosData.html#ae8367c6ee1a64540e204eef660fe52f9">00359</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classgbxnovatelacfr_1_1BestGpsPosData.html#ae8367c6ee1a64540e204eef660fe52f9" title="yields GPS-time (together with gpsWeekNr); continous (contrary to UTC which uses...">msIntoWeek</a>;
<a name="l00360"></a>00360 <a class="code" href="namespacegbxnovatelacfr.html#a76727d7e919fb6da85bfb96af81c8b54" title="Novatel&#39;s different solution status types.">GpsSolutionStatusType</a> solutionStatus; <span class="comment">//</span>
<a name="l00361"></a>00361 <a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8" title="Novatel&#39;s different fix types.">GpsPosVelType</a> positionType; <span class="comment">//</span>
<a name="l00362"></a><a class="code" href="classgbxnovatelacfr_1_1BestGpsPosData.html#ad776a9d16ba226fd7780eb517320f90c">00362</a> <span class="keywordtype">double</span> <a class="code" href="classgbxnovatelacfr_1_1BestGpsPosData.html#ad776a9d16ba226fd7780eb517320f90c" title="[deg] north positive">latitude</a>;
<a name="l00363"></a><a class="code" href="classgbxnovatelacfr_1_1BestGpsPosData.html#a54fb1ba6a36c8827d19707f8d70d6411">00363</a> <span class="keywordtype">double</span> <a class="code" href="classgbxnovatelacfr_1_1BestGpsPosData.html#a54fb1ba6a36c8827d19707f8d70d6411" title="[deg] east positive">longitude</a>;
<a name="l00364"></a><a class="code" href="classgbxnovatelacfr_1_1BestGpsPosData.html#ac38936238ae84afa0ec79768185d89f7">00364</a> <span class="keywordtype">double</span> <a class="code" href="classgbxnovatelacfr_1_1BestGpsPosData.html#ac38936238ae84afa0ec79768185d89f7" title="[m] AMSL == above mean sea level (geoid)">heightAMSL</a>;
<a name="l00365"></a><a class="code" href="classgbxnovatelacfr_1_1BestGpsPosData.html#a033099d6650b9a6003367775415aee4d">00365</a> <span class="keywordtype">float</span> <a class="code" href="classgbxnovatelacfr_1_1BestGpsPosData.html#a033099d6650b9a6003367775415aee4d" title="[m] aka geoidal seperation: undulation == heigth_ellipsoid - height_geoid/AMSL">undulation</a>;
<a name="l00366"></a>00366 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> datumId; <span class="comment">//</span>
<a name="l00367"></a><a class="code" href="classgbxnovatelacfr_1_1BestGpsPosData.html#a2bf4b326041b300d27ab128747f84d6a">00367</a> <span class="keywordtype">float</span> <a class="code" href="classgbxnovatelacfr_1_1BestGpsPosData.html#a2bf4b326041b300d27ab128747f84d6a" title="[m] 1 standard deviation error estimate">sigmaLatitude</a>;
<a name="l00368"></a><a class="code" href="classgbxnovatelacfr_1_1BestGpsPosData.html#adfe475cba6637576bf7164e5c20a7cb5">00368</a> <span class="keywordtype">float</span> <a class="code" href="classgbxnovatelacfr_1_1BestGpsPosData.html#adfe475cba6637576bf7164e5c20a7cb5" title="[m] 1 standard deviation error estimate">sigmaLongitude</a>;
<a name="l00369"></a><a class="code" href="classgbxnovatelacfr_1_1BestGpsPosData.html#a6d90c241c2915d04cbd30ec53a769fbb">00369</a> <span class="keywordtype">float</span> <a class="code" href="classgbxnovatelacfr_1_1BestGpsPosData.html#a6d90c241c2915d04cbd30ec53a769fbb" title="[m] 1 standard deviation error estimate">sigmaHeight</a>;
<a name="l00370"></a>00370 <span class="keywordtype">char</span> baseStationId[4]; <span class="comment">//</span>
<a name="l00371"></a><a class="code" href="classgbxnovatelacfr_1_1BestGpsPosData.html#aaf76b6e121f24f14f619c84a20551bc6">00371</a> <span class="keywordtype">float</span> <a class="code" href="classgbxnovatelacfr_1_1BestGpsPosData.html#aaf76b6e121f24f14f619c84a20551bc6" title="[s] how old the correction info from the basestation is">diffAge</a>;
<a name="l00372"></a><a class="code" href="classgbxnovatelacfr_1_1BestGpsPosData.html#aaf96107ed7856d3797a361d9c7b67c89">00372</a> <span class="keywordtype">float</span> <a class="code" href="classgbxnovatelacfr_1_1BestGpsPosData.html#aaf96107ed7856d3797a361d9c7b67c89" title="[s]">solutionAge</a>;
<a name="l00373"></a><a class="code" href="classgbxnovatelacfr_1_1BestGpsPosData.html#a741c024edfd2148c65f1682dc5be7455">00373</a> <span class="keywordtype">int</span> <a class="code" href="classgbxnovatelacfr_1_1BestGpsPosData.html#a741c024edfd2148c65f1682dc5be7455" title="number of observations tracked (?) L1 code/carrier/doppler + L2 code/carrier/doppler...">numObservations</a>;
<a name="l00374"></a><a class="code" href="classgbxnovatelacfr_1_1BestGpsPosData.html#a296ebec46782fe35c982e43c2ab54184">00374</a> <span class="keywordtype">int</span> <a class="code" href="classgbxnovatelacfr_1_1BestGpsPosData.html#a296ebec46782fe35c982e43c2ab54184" title="number of L1 ranges used in computation (?)">numL1Ranges</a>;
<a name="l00375"></a><a class="code" href="classgbxnovatelacfr_1_1BestGpsPosData.html#a937dbea5bf749561d2c655efb39b9dc6">00375</a> <span class="keywordtype">int</span> <a class="code" href="classgbxnovatelacfr_1_1BestGpsPosData.html#a937dbea5bf749561d2c655efb39b9dc6" title="number of L1 ranges above the RTK mask angle (??) number of L1 carrier ranges used...">numL1RangesRTK</a>;
<a name="l00376"></a><a class="code" href="classgbxnovatelacfr_1_1BestGpsPosData.html#a4ad0667c9b039a356862d752f0bd297b">00376</a> <span class="keywordtype">int</span> <a class="code" href="classgbxnovatelacfr_1_1BestGpsPosData.html#a4ad0667c9b039a356862d752f0bd297b" title="number of L2 ranges above the RTK mask angle (??) number of L2 carrier ranges used...">numL2RangesRTK</a>;
<a name="l00377"></a>00377
<a name="l00378"></a>00378 <a class="code" href="namespacegbxnovatelacfr.html#a892d0cf3ae6a462f2204662127e2ddf4" title="possible Status Messages GenericData can contain">StatusMessageType</a> statusMessageType;
<a name="l00379"></a>00379 std::string statusMessage;
<a name="l00380"></a>00380
<a name="l00381"></a><a class="code" href="classgbxnovatelacfr_1_1BestGpsPosData.html#a7979eac9216fc0683fbd3e0da3c124fc">00381</a> <span class="keywordtype">int</span> <a class="code" href="classgbxnovatelacfr_1_1BestGpsPosData.html#a7979eac9216fc0683fbd3e0da3c124fc" title="in Computer time, beginning of message at serial port">timeStampSec</a>;
<a name="l00382"></a><a class="code" href="classgbxnovatelacfr_1_1BestGpsPosData.html#a01fee0cc7e0bfb712fd50198c7d7a4d0">00382</a> <span class="keywordtype">int</span> <a class="code" href="classgbxnovatelacfr_1_1BestGpsPosData.html#a01fee0cc7e0bfb712fd50198c7d7a4d0" title="in Computer time, beginning of message at serial port">timeStampUSec</a>;
<a name="l00383"></a>00383 };
<a name="l00384"></a>00384
<a name="l00386"></a><a class="code" href="classgbxnovatelacfr_1_1BestGpsVelData.html">00386</a> <span class="keyword">class </span><a class="code" href="classgbxnovatelacfr_1_1BestGpsVelData.html" title="Gps velocity information.">BestGpsVelData</a> : <span class="keyword">public</span> <a class="code" href="classgbxnovatelacfr_1_1GenericData.html" title="Generic (base) type returned by a read.">GenericData</a> {
<a name="l00387"></a>00387 <span class="keyword">public</span>:
<a name="l00388"></a>00388 <a class="code" href="namespacegbxnovatelacfr.html#a865b7d87264a168a988d41e1f0aaea09" title="possible types GenericData can contain">DataType</a> type()<span class="keyword"> const </span>{
<a name="l00389"></a>00389 <span class="keywordflow">return</span> <a class="code" href="namespacegbxnovatelacfr.html#a865b7d87264a168a988d41e1f0aaea09a2f1da9aaece986839cb6ea72dab8a93a" title="GenericData is really BestGpsVelData.">BestGpsVel</a>;
<a name="l00390"></a>00390 }
<a name="l00391"></a>00391 std::string toString() <span class="keyword">const</span>;
<a name="l00392"></a><a class="code" href="classgbxnovatelacfr_1_1BestGpsVelData.html#a296222d4e9a75d6c4db6ef8b7f7d4538">00392</a> <span class="keywordtype">int</span> <a class="code" href="classgbxnovatelacfr_1_1BestGpsVelData.html#a296222d4e9a75d6c4db6ef8b7f7d4538" title="number of full weeks since midnight 05/Jan/1980 (UTC)">gpsWeekNr</a>;
<a name="l00393"></a><a class="code" href="classgbxnovatelacfr_1_1BestGpsVelData.html#a26e3f927631f5115d5ad8f275c983423">00393</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classgbxnovatelacfr_1_1BestGpsVelData.html#a26e3f927631f5115d5ad8f275c983423" title="yields GPS-time (together with gpsWeekNr); continous (contrary to UTC which uses...">msIntoWeek</a>;
<a name="l00394"></a>00394 <a class="code" href="namespacegbxnovatelacfr.html#a76727d7e919fb6da85bfb96af81c8b54" title="Novatel&#39;s different solution status types.">GpsSolutionStatusType</a> solutionStatus; <span class="comment">//</span>
<a name="l00395"></a>00395 <a class="code" href="namespacegbxnovatelacfr.html#a54b2938913b7e2d4754d4a2f889b3bd8" title="Novatel&#39;s different fix types.">GpsPosVelType</a> velocityType; <span class="comment">//</span>
<a name="l00396"></a><a class="code" href="classgbxnovatelacfr_1_1BestGpsVelData.html#ae98b962dac2dbc81b8f60977b3771058">00396</a> <span class="keywordtype">float</span> <a class="code" href="classgbxnovatelacfr_1_1BestGpsVelData.html#ae98b962dac2dbc81b8f60977b3771058" title="[s] gps speed can be calculated from instantanious or integrated doppler. The latter...">latency</a>;
<a name="l00397"></a><a class="code" href="classgbxnovatelacfr_1_1BestGpsVelData.html#a54ee5463f78162b5801a09cf307fa05f">00397</a> <span class="keywordtype">float</span> <a class="code" href="classgbxnovatelacfr_1_1BestGpsVelData.html#a54ee5463f78162b5801a09cf307fa05f" title="[s]">diffAge</a>;
<a name="l00398"></a><a class="code" href="classgbxnovatelacfr_1_1BestGpsVelData.html#a7b158615a2e3b8c52deb06a7e27c51c0">00398</a> <span class="keywordtype">double</span> <a class="code" href="classgbxnovatelacfr_1_1BestGpsVelData.html#a7b158615a2e3b8c52deb06a7e27c51c0" title="[m/s]">horizontalSpeed</a>;
<a name="l00399"></a><a class="code" href="classgbxnovatelacfr_1_1BestGpsVelData.html#a880ef7c3df210e3bb8d4fceab07004e7">00399</a> <span class="keywordtype">double</span> <a class="code" href="classgbxnovatelacfr_1_1BestGpsVelData.html#a880ef7c3df210e3bb8d4fceab07004e7" title="[deg] &quot;heading&quot; of the speed vector w. respect to true North">trackOverGround</a>;
<a name="l00400"></a><a class="code" href="classgbxnovatelacfr_1_1BestGpsVelData.html#aebbec794623fdceeb3e42c8ca8189231">00400</a> <span class="keywordtype">double</span> <a class="code" href="classgbxnovatelacfr_1_1BestGpsVelData.html#aebbec794623fdceeb3e42c8ca8189231" title="[m/s]">verticalSpeed</a>;
<a name="l00401"></a>00401
<a name="l00402"></a>00402 <a class="code" href="namespacegbxnovatelacfr.html#a892d0cf3ae6a462f2204662127e2ddf4" title="possible Status Messages GenericData can contain">StatusMessageType</a> statusMessageType;
<a name="l00403"></a>00403 std::string statusMessage;
<a name="l00404"></a>00404
<a name="l00405"></a><a class="code" href="classgbxnovatelacfr_1_1BestGpsVelData.html#a7423093377b4054ee3419671e3c1d6ed">00405</a> <span class="keywordtype">int</span> <a class="code" href="classgbxnovatelacfr_1_1BestGpsVelData.html#a7423093377b4054ee3419671e3c1d6ed" title="in Computer time, beginning of message at serial port">timeStampSec</a>;
<a name="l00406"></a><a class="code" href="classgbxnovatelacfr_1_1BestGpsVelData.html#ab19e6e8e177ef2175bf63ebfabf23ce9">00406</a> <span class="keywordtype">int</span> <a class="code" href="classgbxnovatelacfr_1_1BestGpsVelData.html#ab19e6e8e177ef2175bf63ebfabf23ce9" title="in Computer time, beginning of message at serial port">timeStampUSec</a>;
<a name="l00407"></a>00407 };
<a name="l00408"></a>00408
<a name="l00410"></a><a class="code" href="classgbxnovatelacfr_1_1RawImuData.html">00410</a> <span class="keyword">class </span><a class="code" href="classgbxnovatelacfr_1_1RawImuData.html" title="Raw IMU information.">RawImuData</a> : <span class="keyword">public</span> <a class="code" href="classgbxnovatelacfr_1_1GenericData.html" title="Generic (base) type returned by a read.">GenericData</a> {
<a name="l00411"></a>00411 <span class="keyword">public</span>:
<a name="l00412"></a>00412 <a class="code" href="namespacegbxnovatelacfr.html#a865b7d87264a168a988d41e1f0aaea09" title="possible types GenericData can contain">DataType</a> type()<span class="keyword"> const </span>{
<a name="l00413"></a>00413 <span class="keywordflow">return</span> <a class="code" href="namespacegbxnovatelacfr.html#a865b7d87264a168a988d41e1f0aaea09a5d28cd0f780779a0228b2a4241e292ec" title="GenericData is really RawImuData.">RawImu</a>;
<a name="l00414"></a>00414 }
<a name="l00415"></a>00415 std::string toString() <span class="keyword">const</span>;
<a name="l00416"></a><a class="code" href="classgbxnovatelacfr_1_1RawImuData.html#aab6718bfbf60593061a151ff09c72f12">00416</a> <span class="keywordtype">int</span> <a class="code" href="classgbxnovatelacfr_1_1RawImuData.html#aab6718bfbf60593061a151ff09c72f12" title="number of full weeks since midnight 05/Jan/1980 (UTC)">gpsWeekNr</a>;
<a name="l00417"></a><a class="code" href="classgbxnovatelacfr_1_1RawImuData.html#ac2dc6ae640cd8a6592f95b5334c66605">00417</a> <span class="keywordtype">double</span> <a class="code" href="classgbxnovatelacfr_1_1RawImuData.html#ac2dc6ae640cd8a6592f95b5334c66605">secIntoWeek</a>;
<a name="l00418"></a>00418
<a name="l00419"></a>00419
<a name="l00420"></a>00420
<a name="l00421"></a>00421 <span class="comment">//</span>
<a name="l00423"></a><a class="code" href="classgbxnovatelacfr_1_1RawImuData.html#abd40a5c7bb22ab32c0651a6b21e470d3">00423</a> <span class="comment"></span> <span class="keywordtype">double</span> <a class="code" href="classgbxnovatelacfr_1_1RawImuData.html#abd40a5c7bb22ab32c0651a6b21e470d3" title="[m/s] up positive">zDeltaV</a>;
<a name="l00424"></a><a class="code" href="classgbxnovatelacfr_1_1RawImuData.html#a428b0f62bd3828943b98af2ef67b7bdb">00424</a> <span class="keywordtype">double</span> <a class="code" href="classgbxnovatelacfr_1_1RawImuData.html#a428b0f62bd3828943b98af2ef67b7bdb" title="[m/s] forward positive">yDeltaV</a>;
<a name="l00425"></a><a class="code" href="classgbxnovatelacfr_1_1RawImuData.html#af7549477987185cd9b325313c00ff20f">00425</a> <span class="keywordtype">double</span> <a class="code" href="classgbxnovatelacfr_1_1RawImuData.html#af7549477987185cd9b325313c00ff20f" title="[m/s] right positive">xDeltaV</a>;
<a name="l00426"></a>00426
<a name="l00428"></a>00428
<a name="l00432"></a>00432 <span class="comment">//</span>
<a name="l00434"></a><a class="code" href="classgbxnovatelacfr_1_1RawImuData.html#ace943e8947734bd0662e5edacba2ccf0">00434</a> <span class="comment"></span> <span class="keywordtype">double</span> <a class="code" href="classgbxnovatelacfr_1_1RawImuData.html#ace943e8947734bd0662e5edacba2ccf0" title="[rad] right handed around z">zDeltaAng</a>;
<a name="l00435"></a><a class="code" href="classgbxnovatelacfr_1_1RawImuData.html#abdf1feaee98bc55e42cee0700f94e0d9">00435</a> <span class="keywordtype">double</span> <a class="code" href="classgbxnovatelacfr_1_1RawImuData.html#abdf1feaee98bc55e42cee0700f94e0d9" title="[rad] right handed around y">yDeltaAng</a>;
<a name="l00436"></a><a class="code" href="classgbxnovatelacfr_1_1RawImuData.html#afb33e3b277819bc293846ace72f1498a">00436</a> <span class="keywordtype">double</span> <a class="code" href="classgbxnovatelacfr_1_1RawImuData.html#afb33e3b277819bc293846ace72f1498a" title="[rad] right handed around x">xDeltaAng</a>;
<a name="l00437"></a>00437
<a name="l00439"></a>00439
<a name="l00440"></a>00440 <a class="code" href="namespacegbxnovatelacfr.html#a892d0cf3ae6a462f2204662127e2ddf4" title="possible Status Messages GenericData can contain">StatusMessageType</a> statusMessageType;
<a name="l00441"></a>00441 std::string statusMessage;
<a name="l00442"></a>00442
<a name="l00443"></a><a class="code" href="classgbxnovatelacfr_1_1RawImuData.html#a66b2af3ef16e642a8fa745bc10f852e1">00443</a> <span class="keywordtype">int</span> <a class="code" href="classgbxnovatelacfr_1_1RawImuData.html#a66b2af3ef16e642a8fa745bc10f852e1" title="in Computer time, beginning of message at serial port">timeStampSec</a>;
<a name="l00444"></a><a class="code" href="classgbxnovatelacfr_1_1RawImuData.html#ae1281b55c624c9faa8d788afebad5342">00444</a> <span class="keywordtype">int</span> <a class="code" href="classgbxnovatelacfr_1_1RawImuData.html#ae1281b55c624c9faa8d788afebad5342" title="in Computer time, beginning of message at serial port">timeStampUSec</a>;
<a name="l00445"></a>00445 };
<a name="l00446"></a>00446
<a name="l00449"></a><a class="code" href="classgbxnovatelacfr_1_1Driver.html">00449</a> <span class="keyword">class </span><a class="code" href="classgbxnovatelacfr_1_1Driver.html" title="the idea is to create one of these guys (with a valid Config), and then treat it...">Driver</a> {
<a name="l00450"></a>00450 <span class="keyword">public</span>:
<a name="l00451"></a>00451
<a name="l00454"></a>00454 <span class="comment">//</span>
<a name="l00456"></a>00456 <span class="comment"></span>
<a name="l00458"></a>00458 <span class="comment">//</span>
<a name="l00460"></a>00460 <span class="comment"></span> <a class="code" href="classgbxnovatelacfr_1_1Driver.html#ac5970c362299881838dbf4440ed43c21" title="dumps tracing messages to the console">Driver</a>( <span class="keyword">const</span> <a class="code" href="classgbxnovatelacfr_1_1Config.html" title="All the information needed to configure the driver.">Config</a> &cfg);
<a name="l00463"></a>00463 <a class="code" href="classgbxnovatelacfr_1_1Driver.html#ac5970c362299881838dbf4440ed43c21" title="dumps tracing messages to the console">Driver</a>( <span class="keyword">const</span> <a class="code" href="classgbxnovatelacfr_1_1Config.html" title="All the information needed to configure the driver.">Config</a> &cfg, <a class="code" href="classgbxutilacfr_1_1Tracer.html" title="Local and remote tracing.">gbxutilacfr::Tracer</a> &tracer);
<a name="l00465"></a>00465 ~<a class="code" href="classgbxnovatelacfr_1_1Driver.html" title="the idea is to create one of these guys (with a valid Config), and then treat it...">Driver</a>();
<a name="l00466"></a>00466
<a name="l00472"></a>00472 std::auto_ptr<GenericData> <a class="code" href="classgbxnovatelacfr_1_1Driver.html#aa46a6e8dfd1eb792b78867888df56eee" title="Blocking read, returns one message.">read</a>();
<a name="l00473"></a>00473
<a name="l00474"></a>00474 <span class="keyword">private</span>:
<a name="l00475"></a>00475
<a name="l00476"></a>00476 <span class="comment">// does the leg-work for the constructor (via the following guys)</span>
<a name="l00477"></a>00477 <span class="keywordtype">void</span> configure();
<a name="l00478"></a>00478 <span class="comment">// establish a serial connection to the receiver</span>
<a name="l00479"></a>00479 <span class="keywordtype">void</span> connectToHardware();
<a name="l00480"></a>00480 <span class="comment">// set parameters related to the IMU</span>
<a name="l00481"></a>00481 <span class="keywordtype">void</span> configureImu();
<a name="l00482"></a>00482 <span class="comment">// set parameters related to the INS</span>
<a name="l00483"></a>00483 <span class="keywordtype">void</span> configureIns();
<a name="l00484"></a>00484 <span class="comment">// set parameters related to GPS</span>
<a name="l00485"></a>00485 <span class="keywordtype">void</span> configureGps();
<a name="l00486"></a>00486 <span class="comment">// turn on data messages we are interested in</span>
<a name="l00487"></a>00487 <span class="keywordtype">void</span> requestData();
<a name="l00488"></a>00488
<a name="l00489"></a>00489 std::auto_ptr<gbxnovatelutilacfr::ImuDecoder> imuDecoder_;
<a name="l00490"></a>00490
<a name="l00491"></a>00491 std::auto_ptr<gbxserialacfr::Serial> serial_;
<a name="l00492"></a>00492 <span class="keywordtype">int</span> baud_;
<a name="l00493"></a>00493
<a name="l00494"></a>00494 <a class="code" href="classgbxnovatelacfr_1_1Config.html" title="All the information needed to configure the driver.">Config</a> config_;
<a name="l00495"></a>00495 std::auto_ptr<gbxutilacfr::Tracer> tracerInternal_;
<a name="l00496"></a>00496 <a class="code" href="classgbxutilacfr_1_1Tracer.html" title="Local and remote tracing.">gbxutilacfr::Tracer</a>& tracer_;
<a name="l00497"></a>00497 };
<a name="l00498"></a>00498
<a name="l00499"></a>00499
<a name="l00500"></a>00500 } <span class="comment">// namespace</span>
<a name="l00502"></a>00502 <span class="comment"></span><span class="preprocessor">#endif</span>
</pre></div></div>
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