robotics_signals/sensors/
nav_sat_fix.rs

1use cdds_derive::*;
2use cyclonedds_rs::*;
3use serde_derive::{Deserialize, Serialize};
4
5use crate::standard::Header;
6
7/// Navigation Satellite fix for any Global Navigation Satellite System
8///
9/// Specified using the WGS 84 reference ellipsoid
10///
11#[repr(C)]
12#[derive(Serialize, Deserialize, Topic)]
13pub struct NavSatFix {
14    /// header.stamp specifies the local time for this measurement (the
15    /// corresponding satellite time may be reported using the
16    /// TimeReference message).
17    ///
18    pub header: Header,
19
20    pub status: NavSatStatus,
21
22    /// Latitude [degrees]. Positive is north of equator
23    pub latitude: f64,
24
25    /// Longiture [degrees]. Positive is east of the prime meridian.
26    pub longitude: f64,
27
28    /// altitude [m]. NaN if altitude is not available.
29    pub altitude: f64,
30
31    /// Position covariance [m^2] defined relative to a tangential plane
32    /// through the reported position. The components are East, North, and
33    /// Up (ENU), in row-major order.
34    ///
35    /// Beware: this coordinate system exhibits singularities at the poles.
36    ///
37    pub position_covariance: [f64; 9],
38
39    /// If the covariance of the fix is known, fill it in completely. If the
40    /// GPS receiver provides the variance of each measurement, put them
41    /// along the diagonal. If only Dilution of Precision is available,
42    /// estimate an approximate covariance from that.
43    pub covariance_type: CovarianceType,
44}
45
46///
47#[repr(C)]
48#[derive(Serialize, Deserialize)]
49pub struct NavSatStatus {
50    pub status: NavSatFixType,
51    /// Which Global Navigation Satellite System signals were
52    /// used by the receiver.
53    pub service: Vec<NavService>,
54}
55
56#[repr(C)]
57#[derive(Serialize, Deserialize)]
58pub enum NavSatFixType {
59    /// No fix
60    NoFix = -1,
61    /// unaugmented fix
62    Fix = 0,
63    /// with satellite based augmentation
64    SbasFix = 1,
65    /// with ground based augmentation
66    GbasFix = 2,
67}
68
69#[repr(C)]
70#[derive(Serialize, Deserialize)]
71pub enum NavService {
72    Gps,
73    Glonass,
74    Compass,
75    Galileo,
76    Irnss,
77}
78
79#[repr(C)]
80#[derive(Serialize, Deserialize)]
81pub enum CovarianceType {
82    Unknown,
83    Approximated,
84    DiagonalKnown,
85    Known,
86}
robotics_signals/sensors/nav_sat_fix.rs

robotics_signals/sensors/
nav_sat_fix.rs
