include/marnav/nmea/gst.hpp

   1 #ifndef MARNAV_NMEA_GST_HPP
   2 #define MARNAV_NMEA_GST_HPP
   3
   4 #include <marnav/nmea/sentence.hpp>
   5 #include <marnav/nmea/time.hpp>
   6 #include <marnav/units/units.hpp>
   7 #include <optional>
   8
   9 namespace marnav::nmea
  10 {
  11 /// @brief GST - GPS Pseudorange Noise Statistics
  12 ///
  13 /// @code
  14 ///        1         2 3 4 5 6 7 8
  15 ///        |         | | | | | | |
  16 /// $--GST,hhmmss.ss,x,x,x,x,x,x,x*hh<CR><LF>
  17 /// @endcode
  18 ///
  19 /// Field Number:
  20 /// 1. TC time of associated GGA fix
  21 /// 2. Total RMS standard deviation of ranges inputs to the navigation solution
  22 /// 3. Standard deviation (meters) of semi-major axis of error ellipse
  23 /// 4. Standard deviation (meters) of semi-minor axis of error ellipse
  24 /// 5. Orientation of semi-major axis of error ellipse (true north degrees)
  25 /// 6. Standard deviation (meters) of latitude error
  26 /// 7. Standard deviation (meters) of longitude error
  27 /// 8. Standard deviation (meters) of altitude error
  28 ///
  29 class gst : public sentence
  30 {
  31         friend class detail::factory;
  32
  33 public:
  34         constexpr static sentence_id ID = sentence_id::GST;
  35         constexpr static const char * TAG = "GST";
  36
  37         gst();
  38         gst(const gst &) = default;
  39         gst & operator=(const gst &) = default;
  40         gst(gst &&) = default;
  41         gst & operator=(gst &&) = default;
  42
  43 protected:
  44         gst(talker talk, fields::const_iterator first, fields::const_iterator last);
  45         void append_data_to(std::string &, const version &) const override;
  46
  47 private:
  48         nmea::time time_utc_;
  49         double total_rms_ = 0.0;
  50         units::meters dev_semi_major_;
  51         units::meters dev_semi_minor_;
  52         double orientation_ = 0.0;
  53         units::meters dev_lat_;
  54         units::meters dev_lon_;
  55         units::meters dev_alt_;
  56
  57 public:
  58         nmea::time get_time_utc() const { return time_utc_; }
  59         double get_total_rms() const { return total_rms_; }
  60         units::length get_dev_semi_major() const { return {dev_semi_major_}; }
  61         units::length get_dev_semi_minor() const { return {dev_semi_minor_}; }
  62         double get_orientation() const { return orientation_; }
  63         units::length get_dev_lat() const { return {dev_lat_}; }
  64         units::length get_dev_lon() const { return {dev_lon_}; }
  65         units::length get_dev_alt() const { return {dev_alt_}; }
  66
  67         void set_time_utc(const nmea::time & t) noexcept { time_utc_ = t; }
  68         void set_total_rms(double t) noexcept { total_rms_ = t; }
  69         void set_dev_semi_major(units::length t) noexcept
  70         {
  71                 dev_semi_major_ = t.get<units::meters>();
  72         }
  73         void set_dev_semi_minor(units::length t) noexcept
  74         {
  75                 dev_semi_minor_ = t.get<units::meters>();
  76         }
  77         void set_orientation(double t) noexcept { orientation_ = t; }
  78         void set_dev_lat(units::length t) noexcept { dev_lat_ = t.get<units::meters>(); }
  79         void set_dev_lon(units::length t) noexcept { dev_lon_ = t.get<units::meters>(); }
  80         void set_dev_alt(units::length t) noexcept { dev_alt_ = t.get<units::meters>(); }
  81 };
  82 }
  83
  84 #endif