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mrpt::slam::CObservationGPS::TGPSDatum_PZS Struct Reference


Detailed Description

The GPS datum for TopCon's mmGPS devices.

Definition at line 175 of file CObservationGPS.h.

#include <mrpt/slam/CObservationGPS.h>

List of all members.

Public Member Functions

 TGPSDatum_PZS ()
template<class TGEODETICCOORDS >
TGEODETICCOORDS getAsStruct () const
 Return the geodetic coords as a mrpt::topography::TGeodeticCoords structure (requires linking against mrpt-topography) Call as: getAsStruct<TGeodeticCoords>();.

Public Attributes

double latitude_degrees
 The measured latitude, in degrees (North:+ , South:-)
double longitude_degrees
 The measured longitude, in degrees (East:+ , West:-)
double height_meters
 ellipsoidal height from N-beam [m] perhaps weighted with regular gps
double RTK_height_meters
 ellipsoidal height [m] without N-beam correction
float PSigma
 position SEP [m]
double angle_transmitter
 Vertical angle of N-beam.
uint8_t nId
 ID of the transmitter [1-4], 0 if none.
uint8_t Fix
 1: GPS, 2: mmGPS
uint8_t TXBattery
 battery level on transmitter
uint8_t RXBattery
 battery level on receiver
uint8_t error
bool hasCartesianPosVel
 system error indicator
double cartesian_x
double cartesian_y
double cartesian_z
 Only if hasCartesianPosVel is true.
double cartesian_vx
double cartesian_vy
double cartesian_vz
 Only if hasCartesianPosVel is true.
bool hasPosCov
mrpt::math::CMatrixFloat44 pos_covariance
 Only if hasPosCov is true.
bool hasVelCov
mrpt::math::CMatrixFloat44 vel_covariance
 Only if hasPosCov is true.
bool hasStats
uint8_t stats_GPS_sats_used
uint8_t stats_GLONASS_sats_used
uint8_t stats_rtk_fix_progress
 [0,100] %, only in modes other than RTK FIXED.

Constructor & Destructor Documentation

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

Member Function Documentation

template<class TGEODETICCOORDS >
TGEODETICCOORDS mrpt::slam::CObservationGPS::TGPSDatum_PZS::getAsStruct (  ) const [inline]

Return the geodetic coords as a mrpt::topography::TGeodeticCoords structure (requires linking against mrpt-topography) Call as: getAsStruct<TGeodeticCoords>();.

Definition at line 183 of file CObservationGPS.h.


Member Data Documentation

Vertical angle of N-beam.

Definition at line 192 of file CObservationGPS.h.

Definition at line 201 of file CObservationGPS.h.

Definition at line 201 of file CObservationGPS.h.

Only if hasCartesianPosVel is true.

Definition at line 201 of file CObservationGPS.h.

Definition at line 200 of file CObservationGPS.h.

Definition at line 200 of file CObservationGPS.h.

Only if hasCartesianPosVel is true.

Definition at line 200 of file CObservationGPS.h.

Definition at line 197 of file CObservationGPS.h.

1: GPS, 2: mmGPS

Definition at line 194 of file CObservationGPS.h.

system error indicator

Definition at line 199 of file CObservationGPS.h.

Definition at line 203 of file CObservationGPS.h.

Definition at line 209 of file CObservationGPS.h.

Definition at line 206 of file CObservationGPS.h.

ellipsoidal height from N-beam [m] perhaps weighted with regular gps

Definition at line 189 of file CObservationGPS.h.

The measured latitude, in degrees (North:+ , South:-)

Definition at line 187 of file CObservationGPS.h.

The measured longitude, in degrees (East:+ , West:-)

Definition at line 188 of file CObservationGPS.h.

ID of the transmitter [1-4], 0 if none.

Definition at line 193 of file CObservationGPS.h.

Only if hasPosCov is true.

Definition at line 204 of file CObservationGPS.h.

position SEP [m]

Definition at line 191 of file CObservationGPS.h.

ellipsoidal height [m] without N-beam correction

Definition at line 190 of file CObservationGPS.h.

battery level on receiver

Definition at line 196 of file CObservationGPS.h.

Definition at line 210 of file CObservationGPS.h.

Definition at line 210 of file CObservationGPS.h.

[0,100] %, only in modes other than RTK FIXED.

Definition at line 211 of file CObservationGPS.h.

battery level on transmitter

Definition at line 195 of file CObservationGPS.h.

Only if hasPosCov is true.

Definition at line 207 of file CObservationGPS.h.




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