Declares a class derived from "CObservation" that represents a Global Positioning System (GPS) reading.
Definition at line 48 of file CObservationGPS.h.
#include <mrpt/slam/CObservationGPS.h>
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::CObject * | duplicate () const |
Returns a copy of the object, indepently of its class. | |
static mrpt::utils::CObject * | CreateObject () |
static CObservationGPSPtr | Create () |
A typedef for the associated smart pointer
Definition at line 51 of file CObservationGPS.h.
mrpt::slam::CObservationGPS::CObservationGPS | ( | ) |
Constructor.
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.
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.
Implements mrpt::slam::CObservation.
Definition at line 263 of file CObservationGPS.h.
mrpt::utils::CLASSINIT mrpt::slam::CObservationGPS::_init_CObservationGPS [static, protected] |
Definition at line 51 of file CObservationGPS.h.
Definition at line 51 of file CObservationGPS.h.
const mrpt::utils::TRuntimeClassId* mrpt::slam::CObservationGPS::classinfo [static] |
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.
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.
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.
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.
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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