MRPT
2.0.4
mrpt
ros1bridge
gps.h
Go to the documentation of this file.
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/* +------------------------------------------------------------------------+
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| Mobile Robot Programming Toolkit (MRPT) |
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| https://www.mrpt.org/ |
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| |
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| Copyright (c) 2005-2020, Individual contributors, see AUTHORS file |
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| See: https://www.mrpt.org/Authors - All rights reserved. |
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| Released under BSD License. See: https://www.mrpt.org/License |
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+------------------------------------------------------------------------+ */
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/*---------------------------------------------------------------
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APPLICATION: mrpt_ros bridge
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FILE: GPS.h
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AUTHOR: Raghavender Sahdev <raghavendersahdev@gmail.com>
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---------------------------------------------------------------*/
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#pragma once
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#include <
mrpt/obs/CObservationGPS.h
>
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#include <sensor_msgs/NavSatFix.h>
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/// ROS message: http://docs.ros.org/api/sensor_msgs/html/msg/NavSatFix.html
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/// MRPT message:
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/// https://github.com/MRPT/mrpt/blob/master/libs/obs/include/mrpt/obs/CObservationGPS.h
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/** Conversion functions between ROS 1 <-> MRPT types.
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* \ingroup mrpt_ros1bridge_grp
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*/
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namespace
mrpt::ros1bridge
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{
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/** \addtogroup mrpt_ros1bridge_grp
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* @{ */
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/** Convert sensor_msgs/NavSatFix -> mrpt::obs::CObservationGPS
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* \return true on sucessful conversion, false on any error.
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*/
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bool
fromROS
(
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const
sensor_msgs::NavSatFix& msg,
mrpt::obs::CObservationGPS
& obj);
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/** Convert mrpt::obs::CObservationGPS -> sensor_msgs/NavSatFix
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* The user must supply the "msg_header" field to be copied into the output
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* message object, since that part does not appear in MRPT classes.
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*
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* Since COnservationGPS does not contain "position_covariance" and
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* "position_covariance_type" sensor_msgs::NavSatFix::position_covariance_type
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* and sensor_msgs::NavSatFix::position_covariance will be empty. \return true
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* on sucessful conversion, false on any error.
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*/
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bool
toROS
(
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const
mrpt::obs::CObservationGPS
& obj,
const
std_msgs::Header& msg_header,
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sensor_msgs::NavSatFix& msg);
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/** @} */
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}
// namespace mrpt::ros1bridge
CObservationGPS.h
mrpt::ros1bridge::fromROS
bool fromROS(const sensor_msgs::NavSatFix &msg, mrpt::obs::CObservationGPS &obj)
Convert sensor_msgs/NavSatFix -> mrpt::obs::CObservationGPS.
Definition:
gps.cpp:20
mrpt::obs::CObservationGPS
This class stores messages from GNSS or GNSS+IMU devices, from consumer-grade inexpensive GPS receive...
Definition:
CObservationGPS.h:67
mrpt::ros1bridge
ROS message: http://docs.ros.org/api/sensor_msgs/html/msg/NavSatFix.html MRPT message: https://github...
Definition:
gps.h:28
mrpt::ros1bridge::toROS
bool toROS(const mrpt::obs::CObservationGPS &obj, const std_msgs::Header &msg_header, sensor_msgs::NavSatFix &msg)
Convert mrpt::obs::CObservationGPS -> sensor_msgs/NavSatFix The user must supply the "msg_header" fie...
Definition:
gps.cpp:48
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