ark::ins::SwiftInterfaceStage

Defined in header “ark/ins/swift/stages/swift_interface_stage.hh”.

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

Methods

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

• ~SwiftInterfaceStage()
  Destructor, for cleanup.

• void initialize(pipeline::StageInterface & interface)
  Initializes the stage, creating subscribers for TCP data, and publishers for GPS, IMU, INS, and status data.