Eigen
Dependencies: Vector3
Dependents: optWingforHAPS_Eigen hexaTest_Eigen
Diff: GPSUBX_UART.hpp
- Revision:
- 17:2e6147aeba54
- Parent:
- 13:facd8e54f2eb
--- a/GPSUBX_UART.hpp Tue Nov 30 12:04:34 2021 +0000 +++ b/GPSUBX_UART.hpp Fri Dec 10 10:41:56 2021 +0000 @@ -2,7 +2,13 @@ #define __GPSUBX_UART_HPP__ #include "mbed.h" -#include "Vector3.hpp" +// Eigen +#include <Eigen/Dense.h> +//#include <Eigen/Core.h> +//#include <Eigen/LU.h> +//#include <Eigen/Geometry.h> +//using namespace std; +using namespace Eigen; #define POSECEF_LEN 20 #define POSLLH_LEN 28 @@ -16,6 +22,10 @@ #define RECEIVE_SIZE 1024 #define SENTENCE_SIZE 64 +#ifndef M_PI_F +#define M_PI_F 3.141592f +#endif + //extern Serial twelite; //// 0x01 0x01 @@ -194,7 +204,7 @@ /**iTOW of POSLLH [ms]*/ volatile int iTOW_POSLLH; /**Velocity NED [m/s]*/ - volatile Vector3 VelocityNED; + Vector3f VelocityNED; /**Speed [m/s]*/ volatile float Speed; /**Ground speed [m/s]*/ @@ -213,13 +223,13 @@ /**Time zone*/ volatile int TimeZone; - Vector3 UniversalZeroPosition; - Vector3 UniversalZeroUnitN; - Vector3 UniversalZeroUnitE; - Vector3 UniversalZeroUnitD; - Vector3 UniversalPosition; + Vector3f UniversalZeroPosition; + Vector3f UniversalZeroUnitN; + Vector3f UniversalZeroUnitE; + Vector3f UniversalZeroUnitD; + Vector3f UniversalPosition; /**Position NED [m]*/ - Vector3 PositionNED; + Vector3f PositionNED; /**Constructor *@param tx UART TX pin @@ -235,13 +245,13 @@ */ void Attach(); - Vector3 ToUniversalUnit(); - Vector3 ToUniversal(); + Vector3f ToUniversalUnit(); + Vector3f ToUniversal(); void CalculateUnit(); /**call Calculate() before calculating PositionNED */ void Calculate(); - Vector3 Calculate(Vector3 position); + Vector3f Calculate(Vector3f position); static void Checksum(char payload[], int n, char* ck_a, char* ck_b); };