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mrpt::slam::CObservationGPS Class Reference


Detailed Description

Declares a class derived from "CObservation" that represents a Global Positioning System (GPS) reading.

See also:
CObservation

Definition at line 48 of file CObservationGPS.h.

#include <mrpt/slam/CObservationGPS.h>

Inheritance diagram for mrpt::slam::CObservationGPS:
Inheritance graph
[legend]

List of all members.

Classes

struct  TGPSDatum_GGA
 The GPS datum for GGA commands. More...
struct  TGPSDatum_PZS
 The GPS datum for TopCon's mmGPS devices. More...
struct  TGPSDatum_RMC
 The GPS datum for RMC commands. More...
struct  TGPSDatum_SATS
 A generic structure for statistics about tracked satelites and their positions. More...
struct  TUTCTime
 A UTC time-stamp structure for GPS messages. More...

Public Member Functions

 CObservationGPS ()
 Constructor.
void dumpToStream (CStream &out)
 Dumps the contents of the observation in a human-readable form to a given output stream.
void dumpToConsole ()
 Dumps the contents of the observation in a human-readable form to the console.
void getSensorPose (CPose3D &out_sensorPose) const
 A general method to retrieve the sensor pose on the robot.
void setSensorPose (const CPose3D &newSensorPose)
 A general method to change the sensor pose on the robot.

Public Attributes

CPose3D sensorPose
 The sensor pose on the robot.
bool has_GGA_datum
 Will be true if the corresponding field contains data read from the sensor, or false if it is not available.
bool has_RMC_datum
 Will be true if the corresponding field contains data read from the sensor, or false if it is not available.
bool has_PZS_datum
 Will be true if the corresponding field contains data read from the sensor, or false if it is not available.
bool has_SATS_datum
 Will be true if the corresponding field contains data read from the sensor, or false if it is not available.
TGPSDatum_GGA GGA_datum
 If "has_GGA_datum" is true, this contains the read GGA datum.
TGPSDatum_RMC RMC_datum
 If "has_RMC_datum" is true, this contains the read RMC datum.
TGPSDatum_PZS PZS_datum
 If "has_PZS_datum" is true, this contains the read PZS datum (TopCon's mmGPS devices only)
TGPSDatum_SATS SATS_datum
 If "has_SATS_datum" is true, this contains the read PZS datum (TopCon's mmGPS devices only)

RTTI stuff

typedef CObservationGPSPtr SmartPtr
static mrpt::utils::CLASSINIT _init_CObservationGPS
static mrpt::utils::TRuntimeClassId classCObservationGPS
static const
mrpt::utils::TRuntimeClassId
classinfo
static const
mrpt::utils::TRuntimeClassId
_GetBaseClass ()
virtual const
mrpt::utils::TRuntimeClassId
GetRuntimeClass () const
 Returns information about the class of an object in runtime.
virtual mrpt::utils::CObjectduplicate () const
 Returns a copy of the object, indepently of its class.
static mrpt::utils::CObjectCreateObject ()
static CObservationGPSPtr Create ()

Member Typedef Documentation

A typedef for the associated smart pointer

Definition at line 51 of file CObservationGPS.h.


Constructor & Destructor Documentation

mrpt::slam::CObservationGPS::CObservationGPS (  )

Constructor.


Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::slam::CObservationGPS::_GetBaseClass (  ) [static, protected]

Reimplemented from mrpt::slam::CObservation.

static CObservationGPSPtr mrpt::slam::CObservationGPS::Create (  ) [static]
static mrpt::utils::CObject* mrpt::slam::CObservationGPS::CreateObject (  ) [static]
void mrpt::slam::CObservationGPS::dumpToConsole (  )

Dumps the contents of the observation in a human-readable form to the console.

void mrpt::slam::CObservationGPS::dumpToStream ( CStream out )

Dumps the contents of the observation in a human-readable form to a given output stream.

virtual mrpt::utils::CObject* mrpt::slam::CObservationGPS::duplicate (  ) const [virtual]

Returns a copy of the object, indepently of its class.

Implements mrpt::utils::CObject.

virtual const mrpt::utils::TRuntimeClassId* mrpt::slam::CObservationGPS::GetRuntimeClass (  ) const [virtual]

Returns information about the class of an object in runtime.

Reimplemented from mrpt::slam::CObservation.

void mrpt::slam::CObservationGPS::getSensorPose ( CPose3D out_sensorPose ) const [inline, virtual]

A general method to retrieve the sensor pose on the robot.

Note that most sensors will return a full (6D) CPose3D, but see the derived classes for more details or special cases.

See also:
setSensorPose

Implements mrpt::slam::CObservation.

Definition at line 256 of file CObservationGPS.h.

void mrpt::slam::CObservationGPS::setSensorPose ( const CPose3D newSensorPose ) [inline, virtual]

A general method to change the sensor pose on the robot.

Note that most sensors will use the full (6D) CPose3D, but see the derived classes for more details or special cases.

See also:
getSensorPose

Implements mrpt::slam::CObservation.

Definition at line 263 of file CObservationGPS.h.


Member Data Documentation

Definition at line 51 of file CObservationGPS.h.

Definition at line 51 of file CObservationGPS.h.

Definition at line 51 of file CObservationGPS.h.

If "has_GGA_datum" is true, this contains the read GGA datum.

Definition at line 247 of file CObservationGPS.h.

Will be true if the corresponding field contains data read from the sensor, or false if it is not available.

See also:
GGA_datum

Definition at line 230 of file CObservationGPS.h.

Will be true if the corresponding field contains data read from the sensor, or false if it is not available.

See also:
PZS_datum

Definition at line 240 of file CObservationGPS.h.

Will be true if the corresponding field contains data read from the sensor, or false if it is not available.

See also:
RMC_datum

Definition at line 235 of file CObservationGPS.h.

Will be true if the corresponding field contains data read from the sensor, or false if it is not available.

See also:
SATS_datum

Definition at line 245 of file CObservationGPS.h.

If "has_PZS_datum" is true, this contains the read PZS datum (TopCon's mmGPS devices only)

Definition at line 249 of file CObservationGPS.h.

If "has_RMC_datum" is true, this contains the read RMC datum.

Definition at line 248 of file CObservationGPS.h.

If "has_SATS_datum" is true, this contains the read PZS datum (TopCon's mmGPS devices only)

Definition at line 250 of file CObservationGPS.h.

The sensor pose on the robot.

Definition at line 69 of file CObservationGPS.h.




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