mrpt::slam::CObservationGPS Class Reference

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

#include <mrpt/slam/CObservationGPS.h>

Inheritance diagram for mrpt::slam::CObservationGPS:

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Collaboration diagram for mrpt::slam::CObservationGPS:

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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).

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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.

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Constructor & Destructor Documentation

mrpt::slam::CObservationGPS::CObservationGPS

(

)

Constructor.

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Member Function Documentation

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.

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.

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Member Data Documentation

TGPSDatum_GGA mrpt::slam::CObservationGPS::GGA_datum

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

Definition at line 247 of file CObservationGPS.h.

bool mrpt::slam::CObservationGPS::has_GGA_datum

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.

bool mrpt::slam::CObservationGPS::has_PZS_datum

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.

bool mrpt::slam::CObservationGPS::has_RMC_datum

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.

bool mrpt::slam::CObservationGPS::has_SATS_datum

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.

TGPSDatum_PZS mrpt::slam::CObservationGPS::PZS_datum

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.

TGPSDatum_RMC mrpt::slam::CObservationGPS::RMC_datum

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

Definition at line 248 of file CObservationGPS.h.

TGPSDatum_SATS mrpt::slam::CObservationGPS::SATS_datum

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.

CPose3D mrpt::slam::CObservationGPS::sensorPose

The sensor pose on the robot.

Definition at line 69 of file CObservationGPS.h.