Autoware.Auto
xsens_gps_translator.hpp
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1 // Copyright 2018 the Autoware Foundation
2 //
3 // Licensed under the Apache License, Version 2.0 (the "License");
4 // you may not use this file except in compliance with the License.
5 // You may obtain a copy of the License at
6 //
7 //    http://www.apache.org/licenses/LICENSE-2.0
8 //
9 // Unless required by applicable law or agreed to in writing, software
10 // distributed under the License is distributed on an "AS IS" BASIS,
11 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
12 // See the License for the specific language governing permissions and
13 // limitations under the License.
14 //
15 // Co-developed by Tier IV, Inc. and Apex.AI, Inc.
16 
18 
19 #ifndef XSENS_DRIVER__XSENS_GPS_TRANSLATOR_HPP_
20 #define XSENS_DRIVER__XSENS_GPS_TRANSLATOR_HPP_
21 
25 #include <cstdint>
26 #include <mutex>
27 #include <vector>
28 #include "sensor_msgs/msg/nav_sat_fix.hpp"
29 
30 namespace autoware
31 {
34 namespace drivers
35 {
36 namespace xsens_driver
37 {
38 
39 class XSENS_DRIVER_PUBLIC XsensGpsTranslator
40  : public XsensBaseTranslator<XsensGpsTranslator, sensor_msgs::msg::NavSatFix>
41 {
42 public:
43  class Config
44  {
45 public:
47  Config();
48 
49 private:
50  };
51 
52  explicit XsensGpsTranslator(const Config & config);
53 
54  void parse_xdigroup_mtdata2(
55  XDIGroup xdigroup,
56  sensor_msgs::msg::NavSatFix & message,
57  int32_t data_id,
58  const std::vector<uint8_t> & content);
59 
60  void parse_gnss(
61  sensor_msgs::msg::NavSatFix & message,
62  int32_t data_id,
63  const std::vector<uint8_t> & content);
64 }; // class Driver
65 } // namespace xsens_driver
66 } // namespace drivers
67 } // namespace autoware
68 
69 #endif // XSENS_DRIVER__XSENS_GPS_TRANSLATOR_HPP_
xsens_common.hpp
autoware::drivers::xsens_driver::XsensBaseTranslator
Definition: xsens_base_translator.hpp:44
autoware
This file defines the lanelet2_map_provider_node class.
Definition: quick_sort.hpp:24
xsens_base_translator.hpp
autoware::drivers::xsens_driver::XDIGroup
XDIGroup
Definition: xsens_common.hpp:152
autoware::drivers::xsens_driver::XsensGpsTranslator
Definition: xsens_gps_translator.hpp:39
visibility_control.hpp
autoware::drivers::xsens_driver::XsensGpsTranslator::Config
Definition: xsens_gps_translator.hpp:43