Exemplos de carmen_global_convert_degmin_to_double em C++ (Cpp)

Exemplo n.º 1

Arquivo: readlog.c Projeto: acekiller/MasterThesis

char *carmen_string_to_gps_gprmc_message(char *string,
					 carmen_gps_gprmc_message *gps_msg)
{
  char *current_pos = string;
  
  if (strncmp(current_pos, "NMEARMC ", 8) == 0)
    current_pos = carmen_next_word(current_pos); 
  
  gps_msg->nr               = CLF_READ_INT(&current_pos);
  gps_msg->validity         = CLF_READ_INT(&current_pos);
  gps_msg->utc              = CLF_READ_DOUBLE(&current_pos);
  gps_msg->latitude_dm      = CLF_READ_DOUBLE(&current_pos);
  gps_msg->latitude         = carmen_global_convert_degmin_to_double(gps_msg->latitude_dm);
  current_pos = carmen_next_word(current_pos); 
  gps_msg->lat_orient       = CLF_READ_CHAR(&current_pos);
  gps_msg->longitude_dm     = CLF_READ_DOUBLE(&current_pos);
  gps_msg->longitude        = carmen_global_convert_degmin_to_double(gps_msg->longitude_dm);
  current_pos = carmen_next_word(current_pos); 
  gps_msg->long_orient      = CLF_READ_CHAR(&current_pos);
  gps_msg->speed            = CLF_READ_DOUBLE(&current_pos);
  gps_msg->true_course      = CLF_READ_DOUBLE(&current_pos);
  gps_msg->variation        = CLF_READ_DOUBLE(&current_pos);
  current_pos = carmen_next_word(current_pos); 
  gps_msg->var_dir          = CLF_READ_CHAR(&current_pos);
  gps_msg->date             = CLF_READ_INT(&current_pos);
  gps_msg->timestamp        = CLF_READ_DOUBLE(&current_pos);
  copy_host_string(&gps_msg->host, &current_pos);

  return current_pos;
}

Exemplo n.º 2

Arquivo: readlog.c Projeto: acekiller/MasterThesis

char *carmen_string_to_gps_gpgga_message(char *string,
				       carmen_gps_gpgga_message *gps_msg)
{
  char *current_pos = string;
  
  if (strncmp(current_pos, "NMEAGGA ", 8) == 0)
    current_pos = carmen_next_word(current_pos); 
  
  gps_msg->nr               = CLF_READ_INT(&current_pos);
  gps_msg->utc              = CLF_READ_DOUBLE(&current_pos);
  gps_msg->latitude_dm      = CLF_READ_DOUBLE(&current_pos);
  gps_msg->latitude         = carmen_global_convert_degmin_to_double(gps_msg->latitude_dm);
  current_pos = carmen_next_word(current_pos); 
  gps_msg->lat_orient       = CLF_READ_CHAR(&current_pos);
  gps_msg->longitude_dm     = CLF_READ_DOUBLE(&current_pos);
  gps_msg->longitude        = carmen_global_convert_degmin_to_double(gps_msg->longitude_dm);
  current_pos = carmen_next_word(current_pos); 
  gps_msg->long_orient      = CLF_READ_CHAR(&current_pos);
  gps_msg->gps_quality      = CLF_READ_INT(&current_pos);
  gps_msg->num_satellites   = CLF_READ_INT(&current_pos);
  gps_msg->hdop             = CLF_READ_DOUBLE(&current_pos);
  gps_msg->sea_level        = CLF_READ_DOUBLE(&current_pos);
  gps_msg->altitude         = CLF_READ_DOUBLE(&current_pos);
  gps_msg->geo_sea_level    = CLF_READ_DOUBLE(&current_pos);
  gps_msg->geo_sep          = CLF_READ_DOUBLE(&current_pos);
  gps_msg->data_age         = CLF_READ_INT(&current_pos);
  gps_msg->timestamp        = CLF_READ_DOUBLE(&current_pos);
  copy_host_string(&gps_msg->host, &current_pos);

  return current_pos;
}

Exemplo n.º 3

Arquivo: gps_xyz.cpp Projeto: ulyssesrr/carmen_lcad

void
velodyne_gps_handler(carmen_velodyne_gps_message *message)
{
	carmen_velodyne_gps_xyz_message velodyne_gps_xyz_message;

	velodyne_gps_xyz_message.accel1_x = message->accel1_x;
	velodyne_gps_xyz_message.accel1_y = message->accel1_y;
	velodyne_gps_xyz_message.accel2_x = message->accel2_x;
	velodyne_gps_xyz_message.accel2_y = message->accel2_y;
	velodyne_gps_xyz_message.accel3_x = message->accel3_x;
	velodyne_gps_xyz_message.accel3_y = message->accel3_y;

	velodyne_gps_xyz_message.gyro1 = message->gyro1;
	velodyne_gps_xyz_message.gyro2 = message->gyro2;
	velodyne_gps_xyz_message.gyro3 = message->gyro3;

	velodyne_gps_xyz_message.temp1 = message->temp1;
	velodyne_gps_xyz_message.temp2 = message->temp2;
	velodyne_gps_xyz_message.temp3 = message->temp3;

	velodyne_gps_xyz_message.utc_time = message->utc_time;
	velodyne_gps_xyz_message.utc_date = message->utc_date;
	velodyne_gps_xyz_message.status = message->status;

	velodyne_gps_xyz_message.latitude = carmen_global_convert_degmin_to_double(message->latitude);
	velodyne_gps_xyz_message.latitude_hemisphere = message->latitude_hemisphere;
	velodyne_gps_xyz_message.longitude = carmen_global_convert_degmin_to_double(message->longitude);
	velodyne_gps_xyz_message.longitude_hemisphere = message->longitude_hemisphere;
	velodyne_gps_xyz_message.speed_over_ground = message->speed_over_ground;
	velodyne_gps_xyz_message.course_over_ground = message->course_over_ground;
	velodyne_gps_xyz_message.magnetic_variation_course = message->magnetic_variation_course;
	velodyne_gps_xyz_message.magnetic_variation_direction = message->magnetic_variation_direction;
	velodyne_gps_xyz_message.mode_indication = message->mode_indication;
	velodyne_gps_xyz_message.timestamp = message->timestamp;

	if (velodyne_gps_xyz_message.latitude_hemisphere == 'S')
		velodyne_gps_xyz_message.latitude = -velodyne_gps_xyz_message.latitude;
	if (velodyne_gps_xyz_message.longitude_hemisphere == 'W')
		velodyne_gps_xyz_message.longitude = -velodyne_gps_xyz_message.longitude;


	// Transformando o z utilizando como altitude o sea_level

	Gdc_Coord_3d gdc = Gdc_Coord_3d((double) velodyne_gps_xyz_message.latitude, (double)velodyne_gps_xyz_message.longitude, 0.0);
	Utm_Coord_3d utm;
	Gdc_To_Utm_Converter::Init();
	Gdc_To_Utm_Converter::Convert(gdc,utm);

	// The axis are changed to match the carmen frame of reference
	velodyne_gps_xyz_message.position.x = utm.y;
	velodyne_gps_xyz_message.position.y = -utm.x;
	velodyne_gps_xyz_message.position.z = utm.z;

	publish_velodyne_gps_xyz_message(velodyne_gps_xyz_message);
}

Exemplo n.º 4

Arquivo: gps-nmea.c Projeto: ulyssesrr/carmen_lcad

int
gps_parse_gga( char * line, int num_chars )
{
  char * ptr;
  int    i;
  for (i=1; i<num_chars-1; i++) {
    if (line[i]=='$' || line[i]=='*')
      return(FALSE);
  }
  if (num_chars>0 && carmen_extern_gpgga_ptr!=NULL) {

    ptr = strsep( &line, ",");
    if (ptr==NULL) return(FALSE);

    ptr = strsep( &line, ",");
    if (ptr==NULL) return(FALSE);
    carmen_extern_gpgga_ptr->utc = atof(ptr);

    ptr = strsep( &line, ",");
    if (ptr==NULL) return(FALSE);
    carmen_extern_gpgga_ptr->latitude_dm = atof(ptr);
    carmen_extern_gpgga_ptr->latitude = carmen_global_convert_degmin_to_double(carmen_extern_gpgga_ptr->latitude_dm);

    ptr = strsep( &line, ",");
    if (ptr==NULL) return(FALSE);
    carmen_extern_gpgga_ptr->lat_orient = ptr[0];

    ptr = strsep( &line, ",");
    if (ptr==NULL) return(FALSE);
    carmen_extern_gpgga_ptr->longitude_dm = atof(ptr);
    carmen_extern_gpgga_ptr->longitude = carmen_global_convert_degmin_to_double(carmen_extern_gpgga_ptr->longitude_dm);

    ptr = strsep( &line, ",");
    if (ptr==NULL) return(FALSE);
    carmen_extern_gpgga_ptr->long_orient = ptr[0];

    ptr = strsep( &line, ",");
    if (ptr==NULL) return(FALSE);
    carmen_extern_gpgga_ptr->gps_quality = atoi(ptr);

    ptr = strsep( &line, ",");
    if (ptr==NULL) return(FALSE);
    carmen_extern_gpgga_ptr->num_satellites = atoi(ptr);

    ptr = strsep( &line, ",");
    if (ptr==NULL) return(FALSE);
    carmen_extern_gpgga_ptr->hdop = atof(ptr);

    ptr = strsep( &line, ",");
    if (ptr==NULL) return(FALSE);
    carmen_extern_gpgga_ptr->sea_level = atof(ptr);

    ptr = strsep( &line, ",");
    if (ptr==NULL) return(FALSE);
    carmen_extern_gpgga_ptr->altitude = atof(ptr);

    ptr = strsep( &line, ",");
    if (ptr==NULL) return(FALSE);
    carmen_extern_gpgga_ptr->geo_sea_level = atof(ptr);

    ptr = strsep( &line, ",");
    if (ptr==NULL) return(FALSE);
    carmen_extern_gpgga_ptr->geo_sep = atof(ptr);

    ptr = strsep( &line, ",");
    if (ptr==NULL) return(FALSE);
    carmen_extern_gpgga_ptr->data_age = atoi(ptr);

    return(TRUE);
  }
  return(FALSE);
}

Exemplo n.º 5

Arquivo: gps-nmea.c Projeto: ulyssesrr/carmen_lcad

int
gps_parse_rmc(char * line, int num_chars)
{
  char * ptr;
  int    i;
  for (i=1; i<num_chars-1; i++) {
    if (line[i]=='$' || line[i]=='*')
      return(FALSE);
  }
  if (num_chars>0 && carmen_extern_gpgga_ptr!=NULL) {

    ptr = strsep( &line, ",");
    if (ptr==NULL) return(FALSE);

    ptr = strsep( &line, ",");
    if (ptr==NULL) return(FALSE);
    carmen_extern_gprmc_ptr->utc = atof(ptr);
 
    ptr = strsep( &line, ",");
    if (ptr==NULL) return(FALSE);
    carmen_extern_gprmc_ptr->validity = (ptr[0] == 'A')?1:0;

    ptr = strsep( &line, ",");
    if (ptr==NULL) return(FALSE);
    carmen_extern_gprmc_ptr->latitude_dm = atof(ptr);
    carmen_extern_gprmc_ptr->latitude = carmen_global_convert_degmin_to_double(carmen_extern_gprmc_ptr->latitude_dm);

    ptr = strsep( &line, ",");
    if (ptr==NULL) return(FALSE);
    carmen_extern_gprmc_ptr->lat_orient = ptr[0];

    ptr = strsep( &line, ",");
    if (ptr==NULL) return(FALSE);
    carmen_extern_gprmc_ptr->longitude_dm = atof(ptr);
    carmen_extern_gprmc_ptr->longitude = carmen_global_convert_degmin_to_double(carmen_extern_gprmc_ptr->longitude_dm);

    ptr = strsep( &line, ",");
    if (ptr==NULL) return(FALSE);
    carmen_extern_gprmc_ptr->long_orient = ptr[0];

    ptr = strsep( &line, ",");
    if (ptr==NULL) return(FALSE);
    carmen_extern_gprmc_ptr->speed = carmen_knots_to_meters_per_second( atof(ptr) );

    ptr = strsep( &line, ",");
    if (ptr==NULL) return(FALSE);
    carmen_extern_gprmc_ptr->true_course = carmen_degrees_to_radians( atoi(ptr) );

    ptr = strsep( &line, ",");
    if (ptr==NULL) return(FALSE);
    carmen_extern_gprmc_ptr->date = atoi(ptr);

    ptr = strsep( &line, ",");
    if (ptr==NULL) return(FALSE);
    carmen_extern_gprmc_ptr->variation = carmen_degrees_to_radians( atoi(ptr) );

    ptr = strsep( &line, ",");
    if (ptr==NULL) return(FALSE);
    carmen_extern_gprmc_ptr->var_dir =ptr[0];

    return(TRUE);
  }
  return(FALSE);
}