InsOutputs.hpp

// This file is part of INSTINCT, the INS Toolkit for Integrated
// Navigation Concepts and Training by the Institute of Navigation of
// the University of Stuttgart, Germany.
//
// This Source Code Form is subject to the terms of the Mozilla Public
// License, v. 2.0. If a copy of the MPL was not distributed with this
// file, You can obtain one at https://mozilla.org/MPL/2.0/.
 
 
#pragma once
 
#include <cstdint>
#include <util/Eigen.hpp>
 
#include <vn/types.h>
#include "util/Vendor/VectorNav/VectorNavTypes.hpp"
 
namespace NAV::vendor::vectornav
{
struct InsOutputs
{
    vn::protocol::uart::InsGroup insField = vn::protocol::uart::InsGroup::INSGROUP_NONE;
 
    InsStatus insStatus{};
 
    Eigen::Vector3d posLla{};
 
    Eigen::Vector3d posEcef{};
 
    Eigen::Vector3f velBody{};
 
    Eigen::Vector3f velNed{};
 
    Eigen::Vector3f velEcef{};
 
    Eigen::Vector3f magEcef{};
 
    Eigen::Vector3f accelEcef{};
 
    Eigen::Vector3f linearAccelEcef{};
 
    float posU{};
 
    float velU{};
};
 
} // namespace NAV::vendor::vectornav