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11 #ifndef GBXNOVATELACFR_DRIVER_H
12 #define GBXNOVATELACFR_DRIVER_H
21 namespace gbxserialacfr{
24 namespace gbxutilacfr{
27 namespace gbxnovatelutilacfr{
33 namespace gbxnovatelacfr{
40 SimpleConfig(std::string serialDevice, int baudRate, std::string imuType, std::vector<double > &imuToGpsOffset):
41 serialDevice_(serialDevice),
44 imuToGpsOffset_(imuToGpsOffset) {};
57 std::string serialDevice_;
60 std::vector<double > imuToGpsOffset_;
67 serialDevice_(serialDevice),
68 baudRate_(baudRate) {};
76 std::string toString() const;
78 std::string serialDevice_;
116 std::string serialDevice_;
157 bool enableInsOffset_;
180 bool enableSetImuOrientation_;
181 int setImuOrientation_;
182 bool enableVehicleBodyRotation_;
183 std::vector<double > vehicleBodyRotation_;
227 UnknownGpsSolutionStatusType
307 virtual std::string toString() const=0;
317 std::string toString() const;
345 std::string statusMessage;
357 std::string toString() const;
366 unsigned int datumId;
370 char baseStationId[4];
379 std::string statusMessage;
391 std::string toString() const;
403 std::string statusMessage;
415 std::string toString() const;
441 std::string statusMessage;
472 std::auto_ptr<GenericData> read();
479 void connectToHardware();
489 std::auto_ptr<gbxnovatelutilacfr::ImuDecoder> imuDecoder_;
491 std::auto_ptr<gbxserialacfr::Serial> serial_;
495 std::auto_ptr<gbxutilacfr::Tracer> tracerInternal_;
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