uwPosBasedRt-hdr.h

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//
// Copyright (c) 2017 Regents of the SIGNET lab, University of Padova.
// All rights reserved.
//
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// modification, are permitted provided that the following conditions
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//    notice, this list of conditions and the following disclaimer.
// 2. Redistributions in binary form must reproduce the above copyright
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//    names of its contributors may be used to endorse or promote products
//    derived from this software without specific prior written permission.
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#ifndef HDR_UWPOS_BASED_RT_H
#define HDR_UWPOS_BASED_RT_H
 
#include <packet.h>
 
#define HDR_UWPOS_BASED_RT(p) (hdr_uwpos_based_rt::access(p))
 
extern packet_t PT_UWPOSBASEDRT;
 
typedef struct hdr_uwpos_based_rt {
 
    double x_ROV_; 
    double y_ROV_; 
    double z_ROV_; 
    double timestamp_; 
    double x_wp_; 
    double y_wp_; 
    double z_wp_; 
    double ROV_speed_;
    uint8_t ipROV_; /***<IP of the ROV related to the informations inserted in
                        the header. */
    
    static int offset_; 
    inline double& x_ROV()
    {
        return x_ROV_;
    }
 
    inline double& y_ROV()
    {
        return y_ROV_;
    }
 
    inline double& z_ROV()
    {
        return z_ROV_;
    }
 
    inline double& timestamp()
    {
        return timestamp_;
    }
 
    inline double& x_waypoint()
    {
        return x_wp_;
    }
 
    inline double& y_waypoint()
    {
        return y_wp_;
    }
 
    inline double& z_waypoint()
    {
        return z_wp_;
    }
 
    inline double& ROV_speed()
    {
        return ROV_speed_;
    }
 
    inline uint8_t& IP_ROV()
    {
        return ipROV_;
    }
 
 
    inline static int &
    offset()
    {
        return offset_;
    }
 
 
 
    inline static struct hdr_uwpos_based_rt *
    access(const Packet *p)
    {
        return (struct hdr_uwpos_based_rt *) p->access(offset_);
    }
} hdr_uwpos_based_rt;
 
#endif // HDR_UWPOS_BASED_RT_H