inscov.h

00001 /*
00002  * Orca-Robotics Project: Components for robotics 
00003  *               http://orca-robotics.sf.net/
00004  * Copyright (c) 2004-2009 NovAtel Inc.
00005  *
00006  * This copy of Orca is licensed to you under the terms described in
00007  * the LICENSE file included in this distribution.
00008  *
00009  */
00010 
00011 #ifndef _INSCOV_H_
00012 #define _INSCOV_H_
00013 
00014 #include <hydronovatelutil/header.h>
00015 
00016 namespace hydronovatelutil{
00017 #pragma pack(push,1)
00018     typedef struct{
00019         unsigned long    week;
00020         double           seconds;
00021         double           pos_cov[9];
00022         double           att_cov[9];
00023         double           vel_cov[9];
00024         unsigned long    crc;
00025     }INSCOV_DATA;
00026 
00027     typedef struct{
00028         OEM4_BINARY_HEADER   hdr;
00029         INSCOV_DATA          data;
00030     }INSCOVB_LOG;
00031 
00032     typedef struct{
00033         OEM4_SHORT_BINARY_HEADER   hdr;
00034         INSCOV_DATA          data;
00035     }INSCOVSB_LOG;
00036 #pragma pack(pop)
00037 
00038 }
00039 
00040 
00041 #endif