ark::ins::NovatelInterfaceStage

Defined in header “ark/ins/novatel/stages/novatel_interface_stage.hh”.

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This stage essentially wraps the NovatelParser, providing an interface for producing GPS, IMU, and INS data to the rest of the stack.

Methods

• NovatelInterfaceStage(std::string name)
  Constructor, initializes the stage.

• ~NovatelInterfaceStage()
  Destructor, for cleanup.

• void initialize(pipeline::StageInterface & interface)
  Initializes the stage, creating subscribers for UDP data, and publishers for all of our various parsed data.