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45 #if MRPT_IS_BIG_ENDIAN
75 #if MRPT_IS_BIG_ENDIAN
84 namespace nv_oem6_position_type
123 namespace nv_oem6_solution_status
172 namespace nv_oem6_ins_status_type
250 nv_oem6_position_type::
NONE;
270 template <
class TGEODETICCOORDS>
273 return TGEODETICCOORDS(fields.lat, fields.lon, fields.hgt);
279 #if MRPT_IS_BIG_ENDIAN
280 fields.header.fixEndianness();
301 nv_oem6_short_header_t
header;
314 template <
class TGEODETICCOORDS>
317 return TGEODETICCOORDS(fields.lat, fields.lon, fields.hgt);
323 #if MRPT_IS_BIG_ENDIAN
324 fields.header.fixEndianness();
345 nv_oem6_short_header_t
header;
350 double pos_cov[9] = {0, 0, 0, 0, 0, 0, 0, 0, 0};
353 double att_cov[9] = {0, 0, 0, 0, 0, 0, 0, 0, 0};
356 double vel_cov[9] = {0, 0, 0, 0, 0, 0, 0, 0, 0};
363 #if MRPT_IS_BIG_ENDIAN
364 fields.header.fixEndianness();
367 for (
int i = 0; i < 9; i++)
416 #if MRPT_IS_BIG_ENDIAN
417 fields.header.fixEndianness();
451 #if MRPT_IS_BIG_ENDIAN
452 fields.header.fixEndianness();
485 #if MRPT_IS_BIG_ENDIAN
501 nv_oem6_short_header_t
header;
513 #if MRPT_IS_BIG_ENDIAN
514 fields.header.fixEndianness();
555 template <
class TGEODETICCOORDS>
558 return TGEODETICCOORDS(fields.lat, fields.lon, fields.hgt);
562 #if MRPT_IS_BIG_ENDIAN
563 fields.header.fixEndianness();
596 #if MRPT_IS_BIG_ENDIAN
597 fields.header.fixEndianness();
624 #if MRPT_IS_BIG_ENDIAN
625 fields.header.fixEndianness();
662 #if MRPT_IS_BIG_ENDIAN
663 fields.header.fixEndianness();
686 #pragma pack(pop) // End of pack = 1
Novatel frame: NV_OEM6_VERSION.
Novatel generic short-header frame (to store frames without a parser at the present time).
@ INVALID_FIX
the fixed position entered using the fix position command is not valid
void internal_writeToStream(mrpt::serialization::CArchive &out) const override
Save to binary stream.
void internal_writeToStream(mrpt::serialization::CArchive &out) const override
Save to binary stream.
@ COLD_START
not yet converged from cold start
uint32_t utc_wn
UTC reference week number.
@ INS_INACTIVE
ins has not started yet
@ NO_CONVERGENCE
noconvergence
gnss_message_type_t
List of all known GNSS message types.
GNSS_BINARY_MSG_DEFINITION_MID TGEODETICCOORDS getAsStruct() const
Return the geodetic coords as a mrpt::topography::TGeodeticCoords structure (requires linking against...
nv_oem6_short_header_t header
Frame header.
const std::string & enum2str(int val)
for nv_position_type_t
uint32_t dn
Day number (1=sunday, 7=saturday)
@ IMU_UNPLUGGED
no imu detected
void dumpToStream(std::ostream &out) const override
Dumps the contents of the observation in a human-readable form to a given output stream.
void dumpToStream(std::ostream &out) const override
Dumps the contents of the observation in a human-readable form to a given output stream.
Novatel generic frame (to store frames without a parser at the present time).
@ DETERMINING_ORIENTATION
void fixEndianness() override
If we are in a big endian system, reverse all fields >1 byte to fix its representation.
void dumpToStream(std::ostream &out) const override
Dumps the contents of the observation in a human-readable form to a given output stream.
@ SINGULARITY
singularity at parameters matrix
@ NV_OEM6_GENERIC_SHORT_FRAME
void internal_writeToStream(mrpt::serialization::CArchive &out) const override
Save to binary stream.
double vel_cov[9]
Velocity covariance matrix in local level frame.
@ COV_TRACE
covariance trace exceeds maximum (trace>1000m)
std::vector< TComponentVersion > components
uint32_t tot
Reference time of UTC params.
void fixEndianness() override
If we are in a big endian system, reverse all fields >1 byte to fix its representation.
nv_oem6_solution_status::nv_solution_status_t solution_stat
nv_oem6_header_t header
Novatel frame: NV_OEM6_BESTPOS.
mrpt::vision::TStereoCalibResults out
void fixEndianness() override
nv_oem6_header_t header
Frame header.
nv_position_type_t
Novatel OEM6 firmware reference, table 84; Novatel SPAN on OEM6 firmware manual, table 26.
#define GNSS_BINARY_MSG_DEFINITION_MID_END
@ INSUFFICIENT_OBS
insufficient observations
nv_oem6_position_type::nv_position_type_t position_type
double att_cov[9]
Attitude covariance matrix of the SPAN frame to the local level frame.
Message_NV_OEM6_GENERIC_SHORT_FRAME()
@ DELTA_POS
delta position is too large
void reverseBytesInPlace(bool &v_in_out)
Reverse the order of the bytes of a given type (useful for transforming btw little/big endian)
Virtual base class for "archives": classes abstracting I/O streams.
uint8_t galileo_beidou_mask
@ INTEGRITY_WARNING
large residuals make position unreliable
@ SOL_COMPUTED
solution computed
const std::string & enum2str(int val)
for nv_solution_status_t
uint8_t num_sats_sol_multi
@ V_H_LIMIT
height or velocity limits exceeded
double a0
Ionospheric alpha and beta constant terms parameters.
uint32_t deltat_ls
Delta time due to leap seconds.
void dumpToStream(std::ostream &out) const override
Dumps the contents of the observation in a human-readable form to a given output stream.
std::vector< uint8_t > msg_body
nv_oem6_header_t header
Frame header.
Message_NV_OEM6_RANGECMP()
void internal_readFromStream(mrpt::serialization::CArchive &in) override
Save to binary stream.
void internal_readFromStream(mrpt::serialization::CArchive &in) override
Save to binary stream.
uint32_t deltat_lsf
Delta time due to leap seconds (future)
double lat
[deg], [deg], hgt over sea level[m]
Novatel frame: NV_OEM6_RANGECMP.
const std::string & enum2str(int val)
for nv_ins_status_type_t
#define GNSS_BINARY_MSG_DEFINITION_MID
void internal_writeToStream(mrpt::serialization::CArchive &out) const override
Save to binary stream.
@ PENDING
when a fix position command is entered, the receiver computes its own position and determines if the ...
nv_ins_status_type_t
Novatel SPAN on OEM6 firmware reference, table 33.
nv_solution_status_t
Novatel OEM6 firmware reference, table 85.
@ RESIDUALS
residuals are too large
#define GNSS_BINARY_MSG_DEFINITION_START(_MSG_ID)
double pos_cov[9]
Position covariance matrix in local level frame (metres squared) xx,xy,xz,yx,yy,yz,...
bool getAllFieldValues(std::ostream &o) const override
@ TEST_DIST
test distance exceeded (max of 3 rejections if distance > 10km)
@ VARIANCE
variance exceeds limits
void internal_readFromStream(mrpt::serialization::CArchive &in) override
Save to binary stream.
Message_NV_OEM6_GENERIC_FRAME()
@ NEGATIVE_VAR
negative variance
@ INS_ALIGNING
ins doing its coarse alignment
bool getAllFieldDescriptions(std::ostream &o) const override
double A0
UTC constant and 1st order terms.
GNSS (GPS) data structures, mainly for use within mrpt::obs::CObservationGPS.
nv_oem6_ins_status_type::nv_ins_status_type_t ins_status
Pure virtual base for all message types.
std::vector< TCompressedRangeLog > obs_data
Message_NV_OEM6_VERSION()
float lat_sigma
Uncertainties (all in [m])
nv_oem6_header_t header
Frame header.
void fixEndianness() override
If we are in a big endian system, reverse all fields >1 byte to fix its representation.
uint32_t wn_lsf
Future week number.
@ INS_BAD
ins position is bad
std::vector< uint8_t > msg_body
void internal_readFromStream(mrpt::serialization::CArchive &in) override
Save to binary stream.
void reverseBytesInPlace_enum(enum_t &v)
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