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package sensor_msgs.msg.dds;
import us.ihmc.communication.packets.Packet;
import us.ihmc.euclid.interfaces.Settable;
import us.ihmc.euclid.interfaces.EpsilonComparable;
import java.util.function.Supplier;
import us.ihmc.pubsub.TopicDataType;
/**
* Navigation Satellite fix for any Global Navigation Satellite System
*
* Specified using the WGS 84 reference ellipsoid
* If the covariance of the fix is known, fill it in completely. If the
* GPS receiver provides the variance of each measurement, put them
* along the diagonal. If only Dilution of Precision is available,
* estimate an approximate covariance from that.
*/
public class NavSatFix extends Packet implements Settable, EpsilonComparable
{
public static final byte COVARIANCE_TYPE_UNKNOWN = (byte) 0;
public static final byte COVARIANCE_TYPE_APPROXIMATED = (byte) 1;
public static final byte COVARIANCE_TYPE_DIAGONAL_KNOWN = (byte) 2;
public static final byte COVARIANCE_TYPE_KNOWN = (byte) 3;
/**
* header.stamp specifies the ROS time for this measurement (the
* corresponding satellite time may be reported using the
* sensor_msgs/TimeReference message).
*
* header.frame_id is the frame of reference reported by the satellite
* receiver, usually the location of the antenna. This is a
* Euclidean frame relative to the vehicle, not a reference
* ellipsoid.
*/
public std_msgs.msg.dds.Header header_;
/**
* Satellite fix status information.
*/
public sensor_msgs.msg.dds.NavSatStatus status_;
/**
* Latitude [degrees]. Positive is north of equator; negative is south.
*/
public double latitude_;
/**
* Longitude [degrees]. Positive is east of prime meridian; negative is west.
*/
public double longitude_;
/**
* Altitude [m]. Positive is above the WGS 84 ellipsoid
* (quiet NaN if no altitude is available).
*/
public double altitude_;
/**
* Position covariance [m^2] defined relative to a tangential plane
* through the reported position. The components are East, North, and
* Up (ENU), in row-major order.
*
* Beware: this coordinate system exhibits singularities at the poles.
*/
public double[] position_covariance_;
public byte position_covariance_type_;
public NavSatFix()
{
header_ = new std_msgs.msg.dds.Header();
status_ = new sensor_msgs.msg.dds.NavSatStatus();
position_covariance_ = new double[9];
}
public NavSatFix(NavSatFix other)
{
this();
set(other);
}
public void set(NavSatFix other)
{
std_msgs.msg.dds.HeaderPubSubType.staticCopy(other.header_, header_);
sensor_msgs.msg.dds.NavSatStatusPubSubType.staticCopy(other.status_, status_);
latitude_ = other.latitude_;
longitude_ = other.longitude_;
altitude_ = other.altitude_;
for(int i1 = 0; i1 < position_covariance_.length; ++i1)
{
position_covariance_[i1] = other.position_covariance_[i1];
}
position_covariance_type_ = other.position_covariance_type_;
}
/**
* header.stamp specifies the ROS time for this measurement (the
* corresponding satellite time may be reported using the
* sensor_msgs/TimeReference message).
*
* header.frame_id is the frame of reference reported by the satellite
* receiver, usually the location of the antenna. This is a
* Euclidean frame relative to the vehicle, not a reference
* ellipsoid.
*/
public std_msgs.msg.dds.Header getHeader()
{
return header_;
}
/**
* Satellite fix status information.
*/
public sensor_msgs.msg.dds.NavSatStatus getStatus()
{
return status_;
}
/**
* Latitude [degrees]. Positive is north of equator; negative is south.
*/
public void setLatitude(double latitude)
{
latitude_ = latitude;
}
/**
* Latitude [degrees]. Positive is north of equator; negative is south.
*/
public double getLatitude()
{
return latitude_;
}
/**
* Longitude [degrees]. Positive is east of prime meridian; negative is west.
*/
public void setLongitude(double longitude)
{
longitude_ = longitude;
}
/**
* Longitude [degrees]. Positive is east of prime meridian; negative is west.
*/
public double getLongitude()
{
return longitude_;
}
/**
* Altitude [m]. Positive is above the WGS 84 ellipsoid
* (quiet NaN if no altitude is available).
*/
public void setAltitude(double altitude)
{
altitude_ = altitude;
}
/**
* Altitude [m]. Positive is above the WGS 84 ellipsoid
* (quiet NaN if no altitude is available).
*/
public double getAltitude()
{
return altitude_;
}
/**
* Position covariance [m^2] defined relative to a tangential plane
* through the reported position. The components are East, North, and
* Up (ENU), in row-major order.
*
* Beware: this coordinate system exhibits singularities at the poles.
*/
public double[] getPositionCovariance()
{
return position_covariance_;
}
public void setPositionCovarianceType(byte position_covariance_type)
{
position_covariance_type_ = position_covariance_type;
}
public byte getPositionCovarianceType()
{
return position_covariance_type_;
}
public static Supplier getPubSubType()
{
return NavSatFixPubSubType::new;
}
@Override
public Supplier getPubSubTypePacket()
{
return NavSatFixPubSubType::new;
}
@Override
public boolean epsilonEquals(NavSatFix other, double epsilon)
{
if(other == null) return false;
if(other == this) return true;
if (!this.header_.epsilonEquals(other.header_, epsilon)) return false;
if (!this.status_.epsilonEquals(other.status_, epsilon)) return false;
if (!us.ihmc.idl.IDLTools.epsilonEqualsPrimitive(this.latitude_, other.latitude_, epsilon)) return false;
if (!us.ihmc.idl.IDLTools.epsilonEqualsPrimitive(this.longitude_, other.longitude_, epsilon)) return false;
if (!us.ihmc.idl.IDLTools.epsilonEqualsPrimitive(this.altitude_, other.altitude_, epsilon)) return false;
for(int i3 = 0; i3 < position_covariance_.length; ++i3)
{
if (!us.ihmc.idl.IDLTools.epsilonEqualsPrimitive(this.position_covariance_[i3], other.position_covariance_[i3], epsilon)) return false;
}
if (!us.ihmc.idl.IDLTools.epsilonEqualsPrimitive(this.position_covariance_type_, other.position_covariance_type_, epsilon)) return false;
return true;
}
@Override
public boolean equals(Object other)
{
if(other == null) return false;
if(other == this) return true;
if(!(other instanceof NavSatFix)) return false;
NavSatFix otherMyClass = (NavSatFix) other;
if (!this.header_.equals(otherMyClass.header_)) return false;
if (!this.status_.equals(otherMyClass.status_)) return false;
if(this.latitude_ != otherMyClass.latitude_) return false;
if(this.longitude_ != otherMyClass.longitude_) return false;
if(this.altitude_ != otherMyClass.altitude_) return false;
for(int i5 = 0; i5 < position_covariance_.length; ++i5)
{
if(this.position_covariance_[i5] != otherMyClass.position_covariance_[i5]) return false;
}
if(this.position_covariance_type_ != otherMyClass.position_covariance_type_) return false;
return true;
}
@Override
public java.lang.String toString()
{
StringBuilder builder = new StringBuilder();
builder.append("NavSatFix {");
builder.append("header=");
builder.append(this.header_); builder.append(", ");
builder.append("status=");
builder.append(this.status_); builder.append(", ");
builder.append("latitude=");
builder.append(this.latitude_); builder.append(", ");
builder.append("longitude=");
builder.append(this.longitude_); builder.append(", ");
builder.append("altitude=");
builder.append(this.altitude_); builder.append(", ");
builder.append("position_covariance=");
builder.append(java.util.Arrays.toString(this.position_covariance_)); builder.append(", ");
builder.append("position_covariance_type=");
builder.append(this.position_covariance_type_);
builder.append("}");
return builder.toString();
}
}
