Driver for the IXSEA inertial navigation system PHINS The PHINS provides position and attitude data in either the device frame or the worldframe. More...
#include <Driver.hpp>
Inheritance diagram for phins_ixsea::Driver:
Public Member Functions | |
| Driver (Protocol protocol=PhinsStandard) | |
| virtual | ~Driver () |
| void | setParser (Protocol protocol) |
| void | read () |
| bool | hasUpdate (uint32_t flags, bool reset=false) |
| const base::samples::RigidBodyState & | utmPose () const |
| const base::samples::RigidBodyState & | geoPose () const |
| base::samples::RigidBodyState | relativePose (const base::Position origin) const |
| PhinsStatus | phinsStatus () const |
| PhinsExtStatus | phinsExtStatus () const |
| NavigationMode | navigationMode () const |
Detailed Description
Driver for the IXSEA inertial navigation system PHINS The PHINS provides position and attitude data in either the device frame or the worldframe.
So far two protocols are implemented
- PhinsStandard provides the data related to the world frame
- Lat/Lon-Position
- UTM Position
- Altitude/Depth
- Speed (East/North)
- Deviations
- Status
- Sensor input
- HalliburtonSAS provides the data related to the world frame as well as to the body frame
There are no binary protocols with UTM position available
Constructor & Destructor Documentation
◆ Driver()
| Driver::Driver | ( | Protocol | protocol = PhinsStandard | ) |
◆ ~Driver()
|
virtual |
Member Function Documentation
◆ geoPose()
| const base::samples::RigidBodyState & Driver::geoPose | ( | ) | const |
◆ hasUpdate()
| bool Driver::hasUpdate | ( | uint32_t | flags, |
| bool | reset = false |
||
| ) |
◆ navigationMode()
| NavigationMode Driver::navigationMode | ( | ) | const |
◆ phinsExtStatus()
| PhinsExtStatus Driver::phinsExtStatus | ( | ) | const |
◆ phinsStatus()
| PhinsStatus Driver::phinsStatus | ( | ) | const |
◆ read()
| void Driver::read | ( | ) |
◆ relativePose()
| base::samples::RigidBodyState Driver::relativePose | ( | const base::Position | origin | ) | const |
◆ setParser()
| void Driver::setParser | ( | Protocol | protocol | ) |
◆ utmPose()
| const base::samples::RigidBodyState & Driver::utmPose | ( | ) | const |
The documentation for this class was generated from the following files:
- /build/rock-master-18.09-drivers-phins-ixsea-0.20171014/src/Driver.hpp
- /build/rock-master-18.09-drivers-phins-ixsea-0.20171014/src/Driver.cpp
