kazu
bb43e7f0fe
added equality checks to sensor-data classes more robust sensor reader [fixed some issues] added support for gps added support for compass added sensor-data-writer added test-cases minor changes
48 lines
1.3 KiB
C++
48 lines
1.3 KiB
C++
#ifndef GPSDATA_H
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#define GPSDATA_H
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#include "../../data/Timestamp.h"
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struct GPSData {
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/** time this measurement was received (NOT the GPS-time) */
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Timestamp tsReceived;
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float lat; // deg
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float lon; // deg
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float alt; // m above sea-level
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float accuracy; // m [might be NAN]
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float speed; // m/s [might be NAN]
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/** ctor for invalid/unknown data */
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GPSData() : tsReceived(), lat(NAN), lon(NAN), alt(NAN), accuracy(NAN), speed(NAN) {;}
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/** ctor */
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GPSData(const Timestamp tsReceived, const float lat, const float lon, const float alt) : tsReceived(tsReceived), lat(lat), lon(lon), alt(alt), accuracy(NAN), speed(NAN) {;}
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/** ctor */
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GPSData(const Timestamp tsReceived, const float lat, const float lon, const float alt, const float accuracy) : tsReceived(tsReceived), lat(lat), lon(lon), alt(alt), accuracy(accuracy), speed(NAN) {;}
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/** data valid? */
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bool isValid() const {
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return (lat == lat) && (lon == lon);
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}
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bool operator == (const GPSData& o) const {
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return EQ_OR_NAN(lat, o.lat) &&
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EQ_OR_NAN(lon, o.lon) &&
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EQ_OR_NAN(alt, o.alt) &&
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EQ_OR_NAN(accuracy, o.accuracy) &&
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EQ_OR_NAN(speed, o.speed);
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}
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private:
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static inline bool EQ_OR_NAN(const float a, const float b) {return (a==b) || ( (a!=a) && (b!=b) );}
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};
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#endif // GPSDATA_H
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