65namespace nv_oem6_position_type {
100namespace nv_oem6_solution_status {
125namespace nv_oem6_ins_status_type {
189 template <class TGEODETICCOORDS>
191 return TGEODETICCOORDS(fields.lat,fields.lon,fields.hgt);
210 template <
class TGEODETICCOORDS>
212 return TGEODETICCOORDS(fields.lat,fields.lon,fields.hgt);
221 nv_oem6_short_header_t
header;
279 char model[16], serial[16];
280 char hwversion[16], swversion[16],bootversion[16];
281 char compdate[12], comptime[12];
330 template <
class TGEODETICCOORDS>
332 return TGEODETICCOORDS(fields.lat,fields.lon,fields.hgt);
This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...
#define GNSS_BINARY_MSG_DEFINITION_START(_MSG_ID)
#define GNSS_BINARY_MSG_DEFINITION_MID_END
#define GNSS_BINARY_MSG_DEFINITION_MID
#define GNSS_BINARY_MSG_DEFINITION_END
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
nv_ins_status_type_t
Novatel SPAN on OEM6 firmware reference, table 33.
@ DETERMINING_ORIENTATION
const std::string OBS_IMPEXP & enum2str(int val)
for nv_ins_status_type_t
const std::string OBS_IMPEXP & enum2str(int val)
for nv_position_type_t
nv_position_type_t
Novatel OEM6 firmware reference, table 84; Novatel SPAN on OEM6 firmware manual, table 26.
nv_solution_status_t
Novatel OEM6 firmware reference, table 85.
@ INS_INACTIVE
ins has not started yet
@ INVALID_FIX
the fixed position entered using the fix position command is not valid
@ COLD_START
not yet converged from cold start
@ VARIANCE
variance exceeds limits
@ DELTA_POS
delta position is too large
@ SOL_COMPUTED
solution computed
@ NO_CONVERGENCE
noconvergence
@ INTEGRITY_WARNING
large residuals make position unreliable
@ PENDING
when a fix position command is entered, the receiver computes its own position and determines if the ...
@ IMU_UNPLUGGED
no imu detected
@ NEGATIVE_VAR
negative variance
@ INS_BAD
ins position is bad
@ V_H_LIMIT
height or velocity limits exceeded
@ INSUFFICIENT_OBS
insufficient observations
@ SINGULARITY
singularity at parameters matrix
@ TEST_DIST
test distance exceeded (max of 3 rejections if distance > 10km)
@ RESIDUALS
residuals are too large
@ INS_ALIGNING
ins doing its coarse alignment
@ COV_TRACE
covariance trace exceeds maximum (trace>1000m)
const std::string OBS_IMPEXP & enum2str(int val)
for nv_solution_status_t
uint32_t tot
Reference time of UTC params.
bool getAllFieldDescriptions(std::ostream &o) const MRPT_OVERRIDE
uint8_t num_sats_sol_multi
GNSS_BINARY_MSG_DEFINITION_MID TGEODETICCOORDS getAsStruct() const
Return the geodetic coords as a mrpt::topography::TGeodeticCoords structure (requires linking against...
double att_cov[9]
Attitude covariance matrix of the SPAN frame to the local level frame. (deg sq) xx,...
double A1
UTC constant and 1st order terms.
float hgt_sigma
Uncertainties (all in [m])
uint32_t dn
Day number (1=sunday, 7=saturday)
uint32_t deltat_ls
Delta time due to leap seconds.
gnss_message_type_t
List of all known GNSS message types.
@ NV_OEM6_GENERIC_SHORT_FRAME
uint32_t solution_stat
nv_oem6_solution_status::nv_solution_status_t
uint32_t wn_lsf
Future week number.
double pos_cov[9]
Position covariance matrix in local level frame (metres squared) xx,xy,xz,yx,yy,yz,...
uint32_t ins_status
nv_oem6_ins_status_type::nv_ins_status_type_t
double vel_cov[9]
Velocity covariance matrix in local level frame. (metres/second squared) xx,xy,xz,...
uint32_t position_type
nv_oem6_position_type::nv_position_type_t
bool getAllFieldValues(std::ostream &o) const MRPT_OVERRIDE
uint32_t deltat_lsf
Delta time due to leap seconds (future)
nv_oem6_header_t header
Novatel frame: NV_OEM6_BESTPOS.
double hgt
[deg], [deg], hgt over sea level[m]
uint32_t utc_wn
UTC reference week number.
uint8_t galileo_beidou_mask
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
Novatel generic frame (to store frames without a parser at the present time).
std::vector< uint8_t > msg_body
Message_NV_OEM6_GENERIC_FRAME()
void dumpToStream(mrpt::utils::CStream &out) const MRPT_OVERRIDE
Dumps the contents of the observation in a human-readable form to a given output stream.
void internal_writeToStream(mrpt::utils::CStream &out) const MRPT_OVERRIDE
Save to binary stream. Launches an exception upon error.
nv_oem6_header_t header
Frame header.
void internal_readFromStream(mrpt::utils::CStream &in) MRPT_OVERRIDE
Save to binary stream. Launches an exception upon error.
Novatel generic short-header frame (to store frames without a parser at the present time).
void internal_readFromStream(mrpt::utils::CStream &in) MRPT_OVERRIDE
Save to binary stream. Launches an exception upon error.
void internal_writeToStream(mrpt::utils::CStream &out) const MRPT_OVERRIDE
Save to binary stream. Launches an exception upon error.
Message_NV_OEM6_GENERIC_SHORT_FRAME()
void dumpToStream(mrpt::utils::CStream &out) const MRPT_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_short_header_t header
Frame header.
Novatel frame: NV_OEM6_RANGECMP.
void dumpToStream(mrpt::utils::CStream &out) const MRPT_OVERRIDE
Dumps the contents of the observation in a human-readable form to a given output stream.
std::vector< TCompressedRangeLog > obs_data
void internal_writeToStream(mrpt::utils::CStream &out) const MRPT_OVERRIDE
Save to binary stream. Launches an exception upon error.
nv_oem6_header_t header
Frame header.
Message_NV_OEM6_RANGECMP()
void internal_readFromStream(mrpt::utils::CStream &in) MRPT_OVERRIDE
Save to binary stream. Launches an exception upon error.
Novatel frame: NV_OEM6_VERSION.
Message_NV_OEM6_VERSION()
void internal_writeToStream(mrpt::utils::CStream &out) const MRPT_OVERRIDE
Save to binary stream. Launches an exception upon error.
void internal_readFromStream(mrpt::utils::CStream &in) MRPT_OVERRIDE
Save to binary stream. Launches an exception upon error.
std::vector< TComponentVersion > components
nv_oem6_header_t header
Frame header.
void dumpToStream(mrpt::utils::CStream &out) const MRPT_OVERRIDE
Dumps the contents of the observation in a human-readable form to a given output stream.
Pure virtual base for all message types.