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VectorNav C++ Library
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This group of methods allow parsing of ASCII asynchronous data packets from VectorNav sensors. More...
Functions | |
void | vn::protocol::uart::Packet::parseVNYPR (vn::math::vec3f *yawPitchRoll) |
Parses a VNYPR asynchronous packet. More... | |
void | vn::protocol::uart::Packet::parseVNQTN (vn::math::vec4f *quaternion) |
Parses a VNQTN asynchronous packet. More... | |
void | vn::protocol::uart::Packet::parseVNQMR (vn::math::vec4f *quaternion, vn::math::vec3f *magnetic, vn::math::vec3f *acceleration, vn::math::vec3f *angularRate) |
Parses a VNQMR asynchronous packet. More... | |
void | vn::protocol::uart::Packet::parseVNMAG (vn::math::vec3f *magnetic) |
Parses a VNMAG asynchronous packet. More... | |
void | vn::protocol::uart::Packet::parseVNACC (vn::math::vec3f *acceleration) |
Parses a VNACC asynchronous packet. More... | |
void | vn::protocol::uart::Packet::parseVNGYR (vn::math::vec3f *angularRate) |
Parses a VNGYR asynchronous packet. More... | |
void | vn::protocol::uart::Packet::parseVNMAR (vn::math::vec3f *magnetic, vn::math::vec3f *acceleration, vn::math::vec3f *angularRate) |
Parses a VNMAR asynchronous packet. More... | |
void | vn::protocol::uart::Packet::parseVNYMR (vn::math::vec3f *yawPitchRoll, vn::math::vec3f *magnetic, vn::math::vec3f *acceleration, vn::math::vec3f *angularRate) |
Parses a VNYMR asynchronous packet. More... | |
void | vn::protocol::uart::Packet::parseVNYBA (vn::math::vec3f *yawPitchRoll, vn::math::vec3f *accelerationBody, vn::math::vec3f *angularRate) |
Parses a VNYBA asynchronous packet. More... | |
void | vn::protocol::uart::Packet::parseVNYIA (vn::math::vec3f *yawPitchRoll, vn::math::vec3f *accelerationInertial, vn::math::vec3f *angularRate) |
Parses a VNYIA asynchronous packet. More... | |
void | vn::protocol::uart::Packet::parseVNIMU (vn::math::vec3f *magneticUncompensated, vn::math::vec3f *accelerationUncompensated, vn::math::vec3f *angularRateUncompensated, float *temperature, float *pressure) |
Parses a VNIMU asynchronous packet. More... | |
void | vn::protocol::uart::Packet::parseVNGPS (double *time, uint16_t *week, uint8_t *gpsFix, uint8_t *numSats, vn::math::vec3d *lla, vn::math::vec3f *nedVel, vn::math::vec3f *nedAcc, float *speedAcc, float *timeAcc) |
Parses a VNGPS asynchronous packet. More... | |
void | vn::protocol::uart::Packet::parseVNINS (double *time, uint16_t *week, uint16_t *status, vn::math::vec3f *yawPitchRoll, vn::math::vec3d *lla, vn::math::vec3f *nedVel, float *attUncertainty, float *posUncertainty, float *velUncertainty) |
Parses a VNINS asynchronous packet. More... | |
void | vn::protocol::uart::Packet::parseVNINE (double *time, uint16_t *week, uint16_t *status, vn::math::vec3f *ypr, vn::math::vec3d *position, vn::math::vec3f *velocity, float *attUncertainty, float *posUncertainty, float *velUncertainty) |
Parses a VNINE asynchronous packet. More... | |
void | vn::protocol::uart::Packet::parseVNISL (vn::math::vec3f *ypr, vn::math::vec3d *lla, vn::math::vec3f *velocity, vn::math::vec3f *acceleration, vn::math::vec3f *angularRate) |
Parses a VNISL asynchronous packet. More... | |
void | vn::protocol::uart::Packet::parseVNISE (vn::math::vec3f *ypr, vn::math::vec3d *position, vn::math::vec3f *velocity, vn::math::vec3f *acceleration, vn::math::vec3f *angularRate) |
Parses a VNISE asynchronous packet. More... | |
void | vn::protocol::uart::Packet::parseVNGPE (double *tow, uint16_t *week, uint8_t *gpsFix, uint8_t *numSats, vn::math::vec3d *position, vn::math::vec3f *velocity, vn::math::vec3f *posAcc, float *speedAcc, float *timeAcc) |
Parses a VNGPE asynchronous packet. More... | |
void | vn::protocol::uart::Packet::parseVNDTV (float *deltaTime, vn::math::vec3f *deltaTheta, vn::math::vec3f *deltaVelocity) |
Parses a VNDTV asynchronous packet. More... | |
This group of methods allow parsing of ASCII asynchronous data packets from VectorNav sensors.
The units are not specified for the out parameters since these methods do a simple conversion operation from the packet string. Please consult the appropriate sensor user manual for details about the units returned by the sensor.
void vn::protocol::uart::Packet::parseVNACC | ( | vn::math::vec3f * | acceleration | ) |
Parses a VNACC asynchronous packet.
[out] | acceleration | The acceleration values in the packet. |
void vn::protocol::uart::Packet::parseVNDTV | ( | float * | deltaTime, |
vn::math::vec3f * | deltaTheta, | ||
vn::math::vec3f * | deltaVelocity | ||
) |
Parses a VNDTV asynchronous packet.
[out] | deltaTime | The DeltaTime value in the packet. |
[out] | deltaTheta | The DeltaTheta values in the packet. |
[out] | deltaVelocity | The DeltaVelocity values in the packet. |
void vn::protocol::uart::Packet::parseVNGPE | ( | double * | tow, |
uint16_t * | week, | ||
uint8_t * | gpsFix, | ||
uint8_t * | numSats, | ||
vn::math::vec3d * | position, | ||
vn::math::vec3f * | velocity, | ||
vn::math::vec3f * | posAcc, | ||
float * | speedAcc, | ||
float * | timeAcc | ||
) |
Parses a VNGPE asynchronous packet.
[out] | tow | The tow value in the packet. |
[out] | week | The week value in the packet. |
[out] | gpsFix | The GPS fix value in the packet. |
[out] | numSats | The numSats value in the packet. |
[out] | position | The ECEF position values in the packet. |
[out] | velocity | The ECEF velocity values in the packet. |
[out] | posAcc | The PosAcc values in the packet. |
[out] | speedAcc | The SpeedAcc value in the packet. |
[out] | timeAcc | The TimeAcc value in the packet. |
void vn::protocol::uart::Packet::parseVNGPS | ( | double * | time, |
uint16_t * | week, | ||
uint8_t * | gpsFix, | ||
uint8_t * | numSats, | ||
vn::math::vec3d * | lla, | ||
vn::math::vec3f * | nedVel, | ||
vn::math::vec3f * | nedAcc, | ||
float * | speedAcc, | ||
float * | timeAcc | ||
) |
Parses a VNGPS asynchronous packet.
[out] | time | The time value in the packet. |
[out] | week | The week value in the packet. |
[out] | gpsFix | The GPS fix value in the packet. |
[out] | numSats | The NumSats value in the packet. |
[out] | lla | The latitude, longitude and altitude values in the packet. |
[out] | nedVel | The NED velocity values in the packet. |
[out] | nedAcc | The NED position accuracy values in the packet. |
[out] | speedAcc | The SpeedAcc value in the packet. |
[out] | timeAcc | The TimeAcc value in the packet. |
void vn::protocol::uart::Packet::parseVNGYR | ( | vn::math::vec3f * | angularRate | ) |
Parses a VNGYR asynchronous packet.
[out] | angularRate | The angular rate values in the packet. |
void vn::protocol::uart::Packet::parseVNIMU | ( | vn::math::vec3f * | magneticUncompensated, |
vn::math::vec3f * | accelerationUncompensated, | ||
vn::math::vec3f * | angularRateUncompensated, | ||
float * | temperature, | ||
float * | pressure | ||
) |
Parses a VNIMU asynchronous packet.
[out] | magneticUncompensated | The uncompensated magnetic values in the packet. |
[out] | accelerationUncompensated | The uncompensated acceleration values in the packet. |
[out] | angularRateUncompensated | The uncompensated angular rate values in the packet. |
[out] | temperature | The temperature value in the packet. |
[out] | pressure | The pressure value in the packet. |
void vn::protocol::uart::Packet::parseVNINE | ( | double * | time, |
uint16_t * | week, | ||
uint16_t * | status, | ||
vn::math::vec3f * | ypr, | ||
vn::math::vec3d * | position, | ||
vn::math::vec3f * | velocity, | ||
float * | attUncertainty, | ||
float * | posUncertainty, | ||
float * | velUncertainty | ||
) |
Parses a VNINE asynchronous packet.
[out] | time | The time value in the packet. |
[out] | week | The week value in the packet. |
[out] | status | The status value in the packet. |
[out] | ypr | The yaw, pitch, roll values in the packet. |
[out] | position | The ECEF position values in the packet. |
[out] | velocity | The ECEF velocity values in the packet. |
[out] | attUncertainty | The attitude uncertainty value in the packet. |
[out] | posUncertainty | The position uncertainty value in the packet. |
[out] | velUncertainty | The velocity uncertainty value in the packet. |
void vn::protocol::uart::Packet::parseVNINS | ( | double * | time, |
uint16_t * | week, | ||
uint16_t * | status, | ||
vn::math::vec3f * | yawPitchRoll, | ||
vn::math::vec3d * | lla, | ||
vn::math::vec3f * | nedVel, | ||
float * | attUncertainty, | ||
float * | posUncertainty, | ||
float * | velUncertainty | ||
) |
Parses a VNINS asynchronous packet.
[out] | time | The time value in the packet. |
[out] | week | The week value in the packet. |
[out] | status | The status value in the packet. |
[out] | yawPitchRoll | The yaw, pitch, roll values in the packet. |
[out] | lla | The latitude, longitude, altitude values in the packet. |
[out] | nedVel | The NED velocity values in the packet. |
[out] | attUncertainty | The attitude uncertainty value in the packet. |
[out] | posUncertainty | The position uncertainty value in the packet. |
[out] | velUncertainty | The velocity uncertainty value in the packet. |
void vn::protocol::uart::Packet::parseVNISE | ( | vn::math::vec3f * | ypr, |
vn::math::vec3d * | position, | ||
vn::math::vec3f * | velocity, | ||
vn::math::vec3f * | acceleration, | ||
vn::math::vec3f * | angularRate | ||
) |
Parses a VNISE asynchronous packet.
[out] | ypr | The yaw, pitch, roll values in the packet. |
[out] | position | The ECEF position values in the packet. |
[out] | velocity | The ECEF velocity values in the packet. |
[out] | acceleration | The acceleration values in the packet. |
[out] | angularRate | The angular rate values in the packet. |
void vn::protocol::uart::Packet::parseVNISL | ( | vn::math::vec3f * | ypr, |
vn::math::vec3d * | lla, | ||
vn::math::vec3f * | velocity, | ||
vn::math::vec3f * | acceleration, | ||
vn::math::vec3f * | angularRate | ||
) |
Parses a VNISL asynchronous packet.
[out] | ypr | The yaw, pitch, roll values in the packet. |
[out] | lla | The latitude, longitude, altitude values in the packet. |
[out] | velocity | The velocity values in the packet. |
[out] | acceleration | The acceleration values in the packet. |
[out] | angularRate | The angular rate values in the packet. |
void vn::protocol::uart::Packet::parseVNMAG | ( | vn::math::vec3f * | magnetic | ) |
Parses a VNMAG asynchronous packet.
[out] | magnetic | The magnetic values in the packet. |
void vn::protocol::uart::Packet::parseVNMAR | ( | vn::math::vec3f * | magnetic, |
vn::math::vec3f * | acceleration, | ||
vn::math::vec3f * | angularRate | ||
) |
Parses a VNMAR asynchronous packet.
[out] | magnetic | The magnetic values in the packet. |
[out] | acceleration | The acceleration values in the packet. |
[out] | angularRate | The angular rate values in the packet. |
void vn::protocol::uart::Packet::parseVNQMR | ( | vn::math::vec4f * | quaternion, |
vn::math::vec3f * | magnetic, | ||
vn::math::vec3f * | acceleration, | ||
vn::math::vec3f * | angularRate | ||
) |
Parses a VNQMR asynchronous packet.
[out] | quaternion | The quaternion values in the packet. |
[out] | magnetic | The magnetic values in the packet. |
[out] | acceleration | The acceleration values in the packet. |
[out] | angularRate | The angular rate values in the packet. |
void vn::protocol::uart::Packet::parseVNQTN | ( | vn::math::vec4f * | quaternion | ) |
Parses a VNQTN asynchronous packet.
[out] | quaternion | The quaternion values in the packet. |
void vn::protocol::uart::Packet::parseVNYBA | ( | vn::math::vec3f * | yawPitchRoll, |
vn::math::vec3f * | accelerationBody, | ||
vn::math::vec3f * | angularRate | ||
) |
Parses a VNYBA asynchronous packet.
[out] | yawPitchRoll | The yaw, pitch, roll values in the packet. |
[out] | accelerationBody | The acceleration body values in the packet. |
[out] | angularRate | The angular rate values in the packet. |
void vn::protocol::uart::Packet::parseVNYIA | ( | vn::math::vec3f * | yawPitchRoll, |
vn::math::vec3f * | accelerationInertial, | ||
vn::math::vec3f * | angularRate | ||
) |
Parses a VNYIA asynchronous packet.
[out] | yawPitchRoll | The yaw, pitch, roll values in the packet. |
[out] | accelerationInertial | The acceleration inertial values in the packet. |
[out] | angularRate | The angular rate values in the packet. |
void vn::protocol::uart::Packet::parseVNYMR | ( | vn::math::vec3f * | yawPitchRoll, |
vn::math::vec3f * | magnetic, | ||
vn::math::vec3f * | acceleration, | ||
vn::math::vec3f * | angularRate | ||
) |
Parses a VNYMR asynchronous packet.
[out] | yawPitchRoll | The yaw, pitch, roll values in the packet. |
[out] | magnetic | The magnetic values in the packet. |
[out] | acceleration | The acceleration values in the packet. |
[out] | angularRate | The angular rate values in the packet. |
void vn::protocol::uart::Packet::parseVNYPR | ( | vn::math::vec3f * | yawPitchRoll | ) |
Parses a VNYPR asynchronous packet.
[out] | yawPitchRoll | The yaw, pitch, roll values in the packet. |