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<div class="title">CObservationGPS.h</div> </div>
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<a href="_c_observation_g_p_s_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* +---------------------------------------------------------------------------+</span>
<a name="l00002"></a>00002 <span class="comment"> | The Mobile Robot Programming Toolkit (MRPT) C++ library |</span>
<a name="l00003"></a>00003 <span class="comment"> | |</span>
<a name="l00004"></a>00004 <span class="comment"> | http://www.mrpt.org/ |</span>
<a name="l00005"></a>00005 <span class="comment"> | |</span>
<a name="l00006"></a>00006 <span class="comment"> | Copyright (C) 2005-2011 University of Malaga |</span>
<a name="l00007"></a>00007 <span class="comment"> | |</span>
<a name="l00008"></a>00008 <span class="comment"> | This software was written by the Machine Perception and Intelligent |</span>
<a name="l00009"></a>00009 <span class="comment"> | Robotics Lab, University of Malaga (Spain). |</span>
<a name="l00010"></a>00010 <span class="comment"> | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |</span>
<a name="l00011"></a>00011 <span class="comment"> | |</span>
<a name="l00012"></a>00012 <span class="comment"> | This file is part of the MRPT project. |</span>
<a name="l00013"></a>00013 <span class="comment"> | |</span>
<a name="l00014"></a>00014 <span class="comment"> | MRPT is free software: you can redistribute it and/or modify |</span>
<a name="l00015"></a>00015 <span class="comment"> | it under the terms of the GNU General Public License as published by |</span>
<a name="l00016"></a>00016 <span class="comment"> | the Free Software Foundation, either version 3 of the License, or |</span>
<a name="l00017"></a>00017 <span class="comment"> | (at your option) any later version. |</span>
<a name="l00018"></a>00018 <span class="comment"> | |</span>
<a name="l00019"></a>00019 <span class="comment"> | MRPT is distributed in the hope that it will be useful, |</span>
<a name="l00020"></a>00020 <span class="comment"> | but WITHOUT ANY WARRANTY; without even the implied warranty of |</span>
<a name="l00021"></a>00021 <span class="comment"> | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |</span>
<a name="l00022"></a>00022 <span class="comment"> | GNU General Public License for more details. |</span>
<a name="l00023"></a>00023 <span class="comment"> | |</span>
<a name="l00024"></a>00024 <span class="comment"> | You should have received a copy of the GNU General Public License |</span>
<a name="l00025"></a>00025 <span class="comment"> | along with MRPT. If not, see <http://www.gnu.org/licenses/>. |</span>
<a name="l00026"></a>00026 <span class="comment"> | |</span>
<a name="l00027"></a>00027 <span class="comment"> +---------------------------------------------------------------------------+ */</span>
<a name="l00028"></a>00028 <span class="preprocessor">#ifndef CObservationGPS_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define CObservationGPS_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span>
<a name="l00031"></a>00031 <span class="preprocessor">#include <<a class="code" href="_c_serializable_8h.html">mrpt/utils/CSerializable.h</a>></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="_c_observation_8h.html">mrpt/slam/CObservation.h</a>></span>
<a name="l00033"></a>00033 <span class="preprocessor">#include <<a class="code" href="_c_pose3_d_8h.html">mrpt/poses/CPose3D.h</a>></span>
<a name="l00034"></a>00034 <span class="preprocessor">#include <<a class="code" href="_c_pose2_d_8h.html">mrpt/poses/CPose2D.h</a>></span>
<a name="l00035"></a>00035
<a name="l00036"></a>00036 <span class="keyword">namespace </span>mrpt
<a name="l00037"></a>00037 {
<a name="l00038"></a>00038 <span class="keyword">namespace </span>slam
<a name="l00039"></a>00039 {
<a name="l00040"></a>00040 <span class="keyword">using namespace </span>mrpt::utils;
<a name="l00041"></a>00041
<a name="l00042"></a><a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_ptr.html#a7e57b4eb396551b597fd5207a8f6c32d">00042</a> <a class="code" href="_c_serializable_8h.html#a9ef523d787f6cb837a0585b790882588" title="This declaration must be inserted in all CSerializable classes definition, before the class declarati...">DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE</a>( <a class="code" href="classmrpt_1_1slam_1_1_c_observation_g_p_s.html" title="Declares a class derived from "CObservation" that represents a Global Positioning System (GPS) readin...">CObservationGPS</a> , <a class="code" href="classmrpt_1_1slam_1_1_c_observation.html" title="Declares a class that represents any robot's observation.">CObservation</a>, <a class="code" href="obs_2include_2mrpt_2obs_2link__pragmas_8h.html#ae8bb1b2647c58d6ae2eb30ca31fcf5a1">OBS_IMPEXP</a>)
<a name="l00043"></a>00043
<a name="l00044"></a>00044 <span class="comment">/** Declares a class derived from "CObservation" that represents a Global Positioning System (GPS) reading.</span>
<a name="l00045"></a>00045 <span class="comment"> *</span>
<a name="l00046"></a>00046 <span class="comment"> * \sa CObservation</span>
<a name="l00047"></a>00047 <span class="comment"> * \ingroup mrpt_obs_grp</span>
<a name="l00048"></a>00048 <span class="comment"> */</span>
<a name="l00049"></a>00049 class <a class="code" href="obs_2include_2mrpt_2obs_2link__pragmas_8h.html#ae8bb1b2647c58d6ae2eb30ca31fcf5a1">OBS_IMPEXP</a> <a class="code" href="classmrpt_1_1slam_1_1_c_observation_g_p_s.html" title="Declares a class derived from "CObservation" that represents a Global Positioning System (GPS) readin...">CObservationGPS</a> : public <a class="code" href="classmrpt_1_1slam_1_1_c_observation.html" title="Declares a class that represents any robot's observation.">CObservation</a>
<a name="l00050"></a>00050 {
<a name="l00051"></a>00051 <span class="comment">// This must be added to any CSerializable derived class:</span>
<a name="l00052"></a><a class="code" href="classmrpt_1_1slam_1_1_c_observation_g_p_s.html#ab2faf1fb97effd9dcf579df71f561f45">00052</a> <a class="code" href="_c_serializable_8h.html#a72ab55bf7ae009c89b75715cfa21e84d" title="This declaration must be inserted in all CSerializable classes definition, within the class declarati...">DEFINE_SERIALIZABLE</a>( <a class="code" href="classmrpt_1_1slam_1_1_c_observation_g_p_s.html" title="Declares a class derived from "CObservation" that represents a Global Positioning System (GPS) readin...">CObservationGPS</a> )
<a name="l00053"></a>00053
<a name="l00054"></a>00054 public:<span class="comment"></span>
<a name="l00055"></a>00055 <span class="comment"> /** Constructor.</span>
<a name="l00056"></a>00056 <span class="comment"> */</span>
<a name="l00057"></a>00057 <a class="code" href="classmrpt_1_1slam_1_1_c_observation_g_p_s.html" title="Declares a class derived from "CObservation" that represents a Global Positioning System (GPS) readin...">CObservationGPS</a>( );
<a name="l00058"></a>00058 <span class="comment"></span>
<a name="l00059"></a>00059 <span class="comment"> /** Dumps the contents of the observation in a human-readable form to a given output stream</span>
<a name="l00060"></a>00060 <span class="comment"> */</span>
<a name="l00061"></a>00061 <span class="keywordtype">void</span> dumpToStream( <a class="code" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a> &out );
<a name="l00062"></a>00062 <span class="comment"></span>
<a name="l00063"></a>00063 <span class="comment"> /** Dumps the contents of the observation in a human-readable form to the console</span>
<a name="l00064"></a>00064 <span class="comment"> */</span>
<a name="l00065"></a>00065 <span class="keywordtype">void</span> dumpToConsole( );
<a name="l00066"></a>00066
<a name="l00067"></a>00067 <span class="comment"></span>
<a name="l00068"></a>00068 <span class="comment"> /** The sensor pose on the robot.</span>
<a name="l00069"></a>00069 <span class="comment"> */</span>
<a name="l00070"></a><a class="code" href="classmrpt_1_1slam_1_1_c_observation_g_p_s.html#ac2ca9d0917769b519dbc682d3c4505c0">00070</a> <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d.html" title="A class used to store a 3D pose (a 3D translation + a rotation in 3D).">CPose3D</a> sensorPose;
<a name="l00071"></a>00071 <span class="comment"></span>
<a name="l00072"></a>00072 <span class="comment"> /** A UTC time-stamp structure for GPS messages</span>
<a name="l00073"></a>00073 <span class="comment"> */</span>
<a name="l00074"></a>00074 struct <a class="code" href="obs_2include_2mrpt_2obs_2link__pragmas_8h.html#ae8bb1b2647c58d6ae2eb30ca31fcf5a1">OBS_IMPEXP</a> <a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_u_t_c_time.html" title="A UTC time-stamp structure for GPS messages.">TUTCTime</a>
<a name="l00075"></a>00075 {
<a name="l00076"></a>00076 TUTCTime();
<a name="l00077"></a>00077
<a name="l00078"></a><a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_u_t_c_time.html#acee8c989978c0971e91482bffde4d181">00078</a> uint8_t <a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_u_t_c_time.html#acee8c989978c0971e91482bffde4d181">hour</a>;
<a name="l00079"></a><a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_u_t_c_time.html#a2a02515451c7e845b65cc0bee0a5c595">00079</a> uint8_t <a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_u_t_c_time.html#a2a02515451c7e845b65cc0bee0a5c595">minute</a>;
<a name="l00080"></a><a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_u_t_c_time.html#ad4ebccdf7bb9d3defa8dff28d70032e2">00080</a> <span class="keywordtype">double</span> <a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_u_t_c_time.html#ad4ebccdf7bb9d3defa8dff28d70032e2">sec</a>;
<a name="l00081"></a>00081
<a name="l00082"></a><a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_u_t_c_time.html#aedfa05dfcc510f783c400a4e5a78fce9">00082</a> <span class="keywordtype">bool</span> <a class="code" href="namespacemrpt_1_1math.html#ad4a5f953c6f98c279c7d3ff13bbb223a">operator == </a>(<span class="keyword">const</span> TUTCTime& o)<span class="keyword"> const </span>{ <span class="keywordflow">return</span> hour==o.<a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_u_t_c_time.html#acee8c989978c0971e91482bffde4d181">hour</a> && minute==o.<a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_u_t_c_time.html#a2a02515451c7e845b65cc0bee0a5c595">minute</a> && sec==o.<a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_u_t_c_time.html#ad4ebccdf7bb9d3defa8dff28d70032e2">sec</a>; }
<a name="l00083"></a><a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_u_t_c_time.html#a4bd17a456e969196950a60e73922a111">00083</a> <span class="keywordtype">bool</span> <a class="code" href="namespacemrpt_1_1math.html#a9530d437eede574017f58f04ad36bcf9">operator != </a>(<span class="keyword">const</span> TUTCTime& o)<span class="keyword"> const </span>{ <span class="keywordflow">return</span> hour!=o.<a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_u_t_c_time.html#acee8c989978c0971e91482bffde4d181">hour</a> || minute!=o.<a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_u_t_c_time.html#a2a02515451c7e845b65cc0bee0a5c595">minute</a> || sec!=o.<a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_u_t_c_time.html#ad4ebccdf7bb9d3defa8dff28d70032e2">sec</a>; }
<a name="l00084"></a><a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_u_t_c_time.html#adc351839e91301e14bf7013490041b36">00084</a> <span class="keyword">inline</span> TUTCTime& operator = (<span class="keyword">const</span> TUTCTime& o)
<a name="l00085"></a>00085 {
<a name="l00086"></a>00086 this->hour = o.<a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_u_t_c_time.html#acee8c989978c0971e91482bffde4d181">hour</a>;
<a name="l00087"></a>00087 this->minute = o.<a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_u_t_c_time.html#a2a02515451c7e845b65cc0bee0a5c595">minute</a>;
<a name="l00088"></a>00088 this->sec = o.<a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_u_t_c_time.html#ad4ebccdf7bb9d3defa8dff28d70032e2">sec</a>;
<a name="l00089"></a>00089 <span class="keywordflow">return</span> *<span class="keyword">this</span>;
<a name="l00090"></a>00090 }
<a name="l00091"></a>00091 };
<a name="l00092"></a>00092 <span class="comment"></span>
<a name="l00093"></a>00093 <span class="comment"> /** The GPS datum for GGA commands</span>
<a name="l00094"></a>00094 <span class="comment"> */</span>
<a name="l00095"></a>00095 <span class="keyword">struct </span><a class="code" href="obs_2include_2mrpt_2obs_2link__pragmas_8h.html#ae8bb1b2647c58d6ae2eb30ca31fcf5a1">OBS_IMPEXP</a> TGPSDatum_GGA
<a name="l00096"></a>00096 {
<a name="l00097"></a>00097 TGPSDatum_GGA();
<a name="l00098"></a>00098 <span class="comment"></span>
<a name="l00099"></a>00099 <span class="comment"> /** Return the geodetic coords as a mrpt::topography::TGeodeticCoords structure (requires linking against mrpt-topography)</span>
<a name="l00100"></a>00100 <span class="comment"> * Call as: getAsStruct<TGeodeticCoords>();</span>
<a name="l00101"></a>00101 <span class="comment"> */</span>
<a name="l00102"></a>00102 <span class="keyword">template</span> <<span class="keyword">class</span> TGEODETICCOORDS>
<a name="l00103"></a><a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___g_g_a.html#a0139b7d9acc50ebbaba5db2cdb0fcebf">00103</a> <span class="keyword">inline</span> TGEODETICCOORDS <a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___g_g_a.html#a0139b7d9acc50ebbaba5db2cdb0fcebf" title="Return the geodetic coords as a mrpt::topography::TGeodeticCoords structure (requires linking against...">getOrthoAsStruct</a>()<span class="keyword"> const </span>{
<a name="l00104"></a>00104 <span class="keywordflow">return</span> TGEODETICCOORDS(latitude_degrees,longitude_degrees,corrected_orthometric_altitude);
<a name="l00105"></a>00105 }
<a name="l00106"></a>00106 <span class="comment"></span>
<a name="l00107"></a>00107 <span class="comment"> /** Return the geodetic coords as a mrpt::topography::TGeodeticCoords structure (requires linking against mrpt-topography)</span>
<a name="l00108"></a>00108 <span class="comment"> * Call as: getAsStruct<TGeodeticCoords>();</span>
<a name="l00109"></a>00109 <span class="comment"> */</span>
<a name="l00110"></a>00110 <span class="keyword">template</span> <<span class="keyword">class</span> TGEODETICCOORDS>
<a name="l00111"></a><a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___g_g_a.html#a35c8423dc5dd83fbd2937a103647785d">00111</a> <span class="keyword">inline</span> TGEODETICCOORDS <a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___g_g_a.html#a35c8423dc5dd83fbd2937a103647785d" title="Return the geodetic coords as a mrpt::topography::TGeodeticCoords structure (requires linking against...">getAsStruct</a>()<span class="keyword"> const </span>{
<a name="l00112"></a>00112 <span class="keywordflow">return</span> TGEODETICCOORDS(latitude_degrees,longitude_degrees,altitude_meters);
<a name="l00113"></a>00113 }
<a name="l00114"></a>00114 <span class="comment"></span>
<a name="l00115"></a>00115 <span class="comment"> /** The GPS sensor measured timestamp (in UTC time)</span>
<a name="l00116"></a>00116 <span class="comment"> */</span>
<a name="l00117"></a><a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___g_g_a.html#ac34ded1d444e871d026bccd7ec42cf3e">00117</a> <a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_u_t_c_time.html" title="A UTC time-stamp structure for GPS messages.">TUTCTime</a> <a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___g_g_a.html#ac34ded1d444e871d026bccd7ec42cf3e" title="The GPS sensor measured timestamp (in UTC time)">UTCTime</a>;
<a name="l00118"></a>00118 <span class="comment"></span>
<a name="l00119"></a>00119 <span class="comment"> /** The measured latitude, in degrees (North:+ , South:-)</span>
<a name="l00120"></a>00120 <span class="comment"> */</span>
<a name="l00121"></a><a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___g_g_a.html#a4077c2db51ad89ca5833de685ba1c7f0">00121</a> <span class="keywordtype">double</span> <a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___g_g_a.html#a4077c2db51ad89ca5833de685ba1c7f0" title="The measured latitude, in degrees (North:+ , South:-)">latitude_degrees</a>;
<a name="l00122"></a>00122 <span class="comment"></span>
<a name="l00123"></a>00123 <span class="comment"> /** The measured longitude, in degrees (East:+ , West:-)</span>
<a name="l00124"></a>00124 <span class="comment"> */</span>
<a name="l00125"></a><a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___g_g_a.html#a9f6b56af31c0060bacafcfd970d94334">00125</a> <span class="keywordtype">double</span> <a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___g_g_a.html#a9f6b56af31c0060bacafcfd970d94334" title="The measured longitude, in degrees (East:+ , West:-)">longitude_degrees</a>;
<a name="l00126"></a>00126 <span class="comment"></span>
<a name="l00127"></a>00127 <span class="comment"> /** The values defined in the NMEA standard are the following:</span>
<a name="l00128"></a>00128 <span class="comment"> *</span>
<a name="l00129"></a>00129 <span class="comment"> * 0 = invalid</span>
<a name="l00130"></a>00130 <span class="comment"> * 1 = GPS fix (SPS)</span>
<a name="l00131"></a>00131 <span class="comment"> * 2 = DGPS fix</span>
<a name="l00132"></a>00132 <span class="comment"> * 3 = PPS fix</span>
<a name="l00133"></a>00133 <span class="comment"> * 4 = Real Time Kinematic</span>
<a name="l00134"></a>00134 <span class="comment"> * 5 = Float RTK</span>
<a name="l00135"></a>00135 <span class="comment"> * 6 = estimated (dead reckoning) (2.3 feature)</span>
<a name="l00136"></a>00136 <span class="comment"> * 7 = Manual input mode</span>
<a name="l00137"></a>00137 <span class="comment"> * 8 = Simulation mode</span>
<a name="l00138"></a>00138 <span class="comment"> */</span>
<a name="l00139"></a><a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___g_g_a.html#a4a782eabebb640bcb6c4c08638dcc6cd">00139</a> uint8_t <a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___g_g_a.html#a4a782eabebb640bcb6c4c08638dcc6cd" title="The values defined in the NMEA standard are the following:">fix_quality</a>;
<a name="l00140"></a>00140 <span class="comment"></span>
<a name="l00141"></a>00141 <span class="comment"> /** The measured altitude, in meters (A).</span>
<a name="l00142"></a>00142 <span class="comment"> */</span>
<a name="l00143"></a><a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___g_g_a.html#a28bd274b376b68bd55f955740ef37859">00143</a> <span class="keywordtype">double</span> <a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___g_g_a.html#a28bd274b376b68bd55f955740ef37859" title="The measured altitude, in meters (A).">altitude_meters</a>;
<a name="l00144"></a>00144 <span class="comment"></span>
<a name="l00145"></a>00145 <span class="comment"> /** Difference between the measured altitude and the geoid, in meters (B).</span>
<a name="l00146"></a>00146 <span class="comment"> */</span>
<a name="l00147"></a><a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___g_g_a.html#a60bb9557bed3e3192879fac0614c7a84">00147</a> <span class="keywordtype">double</span> <a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___g_g_a.html#a60bb9557bed3e3192879fac0614c7a84" title="Difference between the measured altitude and the geoid, in meters (B).">geoidal_distance</a>;
<a name="l00148"></a>00148 <span class="comment"></span>
<a name="l00149"></a>00149 <span class="comment"> /** The measured orthometric altitude, in meters (A)+(B).</span>
<a name="l00150"></a>00150 <span class="comment"> */</span>
<a name="l00151"></a><a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___g_g_a.html#a51dae08dc38a85bf138abf96469035ad">00151</a> <span class="keywordtype">double</span> <a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___g_g_a.html#a51dae08dc38a85bf138abf96469035ad" title="The measured orthometric altitude, in meters (A)+(B).">orthometric_altitude</a>;
<a name="l00152"></a>00152 <span class="comment"></span>
<a name="l00153"></a>00153 <span class="comment"> /** The corrected (mmGPS) orthometric altitude, in meters mmGPS(A+B).</span>
<a name="l00154"></a>00154 <span class="comment"> */</span>
<a name="l00155"></a><a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___g_g_a.html#a3df11ad42805cace42861bd8c562adbd">00155</a> <span class="keywordtype">double</span> <a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___g_g_a.html#a3df11ad42805cace42861bd8c562adbd" title="The corrected (mmGPS) orthometric altitude, in meters mmGPS(A+B).">corrected_orthometric_altitude</a>;
<a name="l00156"></a>00156 <span class="comment"></span>
<a name="l00157"></a>00157 <span class="comment"> /** The number of satelites used to compute this estimation.</span>
<a name="l00158"></a>00158 <span class="comment"> */</span>
<a name="l00159"></a><a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___g_g_a.html#aec89122f5c070d157be6179437a375ae">00159</a> uint32_t <a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___g_g_a.html#aec89122f5c070d157be6179437a375ae" title="The number of satelites used to compute this estimation.">satellitesUsed</a>;
<a name="l00160"></a>00160 <span class="comment"></span>
<a name="l00161"></a>00161 <span class="comment"> /** This states whether to take into account the value in the HDOP field.</span>
<a name="l00162"></a>00162 <span class="comment"> */</span>
<a name="l00163"></a><a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___g_g_a.html#a6baeaea1b7d5d1324fbf93c26b3319c4">00163</a> <span class="keywordtype">bool</span> <a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___g_g_a.html#a6baeaea1b7d5d1324fbf93c26b3319c4" title="This states whether to take into account the value in the HDOP field.">thereis_HDOP</a>;
<a name="l00164"></a>00164 <span class="comment"></span>
<a name="l00165"></a>00165 <span class="comment"> /** The HDOP (Horizontal Dilution of Precision) as returned by the sensor.</span>
<a name="l00166"></a>00166 <span class="comment"> */</span>
<a name="l00167"></a><a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___g_g_a.html#a519254d691e1804408277205b2117f78">00167</a> <span class="keywordtype">float</span> <a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___g_g_a.html#a519254d691e1804408277205b2117f78" title="The HDOP (Horizontal Dilution of Precision) as returned by the sensor.">HDOP</a>;
<a name="l00168"></a>00168 };
<a name="l00169"></a>00169 <span class="comment"></span>
<a name="l00170"></a>00170 <span class="comment"> /** The GPS datum for RMC commands</span>
<a name="l00171"></a>00171 <span class="comment"> */</span>
<a name="l00172"></a>00172 <span class="keyword">struct </span><a class="code" href="obs_2include_2mrpt_2obs_2link__pragmas_8h.html#ae8bb1b2647c58d6ae2eb30ca31fcf5a1">OBS_IMPEXP</a> <a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___r_m_c.html" title="The GPS datum for RMC commands.">TGPSDatum_RMC</a>
<a name="l00173"></a>00173 {
<a name="l00174"></a>00174 <a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___r_m_c.html" title="The GPS datum for RMC commands.">TGPSDatum_RMC</a>();
<a name="l00175"></a>00175 <span class="comment"></span>
<a name="l00176"></a>00176 <span class="comment"> /** The GPS sensor measured timestamp (in UTC time)</span>
<a name="l00177"></a>00177 <span class="comment"> */</span>
<a name="l00178"></a><a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___r_m_c.html#afd80b3322738bdf56dd128f012bcd66c">00178</a> <a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_u_t_c_time.html" title="A UTC time-stamp structure for GPS messages.">TUTCTime</a> <a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___r_m_c.html#afd80b3322738bdf56dd128f012bcd66c" title="The GPS sensor measured timestamp (in UTC time)">UTCTime</a>;
<a name="l00179"></a>00179 <span class="comment"></span>
<a name="l00180"></a>00180 <span class="comment"> /** This will be: 'A'=OK or 'V'=void</span>
<a name="l00181"></a>00181 <span class="comment"> */</span>
<a name="l00182"></a><a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___r_m_c.html#abfd4490c012cbc225ace4eba96f4fbaa">00182</a> int8_t <a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___r_m_c.html#abfd4490c012cbc225ace4eba96f4fbaa" title="This will be: 'A'=OK or 'V'=void.">validity_char</a>;
<a name="l00183"></a>00183 <span class="comment"></span>
<a name="l00184"></a>00184 <span class="comment"> /** The measured latitude, in degrees (North:+ , South:-)</span>
<a name="l00185"></a>00185 <span class="comment"> */</span>
<a name="l00186"></a><a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___r_m_c.html#ad5cb454fafc1345d55d7101ed6a7d706">00186</a> <span class="keywordtype">double</span> <a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___r_m_c.html#ad5cb454fafc1345d55d7101ed6a7d706" title="The measured latitude, in degrees (North:+ , South:-)">latitude_degrees</a>;
<a name="l00187"></a>00187 <span class="comment"></span>
<a name="l00188"></a>00188 <span class="comment"> /** The measured longitude, in degrees (East:+ , West:-)</span>
<a name="l00189"></a>00189 <span class="comment"> */</span>
<a name="l00190"></a><a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___r_m_c.html#aa9a6e69f54b2d59d6f67388ff64788a8">00190</a> <span class="keywordtype">double</span> <a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___r_m_c.html#aa9a6e69f54b2d59d6f67388ff64788a8" title="The measured longitude, in degrees (East:+ , West:-)">longitude_degrees</a>;
<a name="l00191"></a>00191 <span class="comment"></span>
<a name="l00192"></a>00192 <span class="comment"> /** The measured speed (in knots)</span>
<a name="l00193"></a>00193 <span class="comment"> */</span>
<a name="l00194"></a><a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___r_m_c.html#a9a543aed6ce7ace11d968f5305a153fa">00194</a> <span class="keywordtype">double</span> <a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___r_m_c.html#a9a543aed6ce7ace11d968f5305a153fa" title="The measured speed (in knots)">speed_knots</a>;
<a name="l00195"></a>00195 <span class="comment"></span>
<a name="l00196"></a>00196 <span class="comment"> /** The measured speed direction (in degrees)</span>
<a name="l00197"></a>00197 <span class="comment"> */</span>
<a name="l00198"></a><a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___r_m_c.html#a75f59b240854db22f9b95019bc938a77">00198</a> <span class="keywordtype">double</span> <a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___r_m_c.html#a75f59b240854db22f9b95019bc938a77" title="The measured speed direction (in degrees)">direction_degrees</a>;
<a name="l00199"></a>00199 };
<a name="l00200"></a>00200 <span class="comment"></span>
<a name="l00201"></a>00201 <span class="comment"> /** The GPS datum for TopCon's mmGPS devices</span>
<a name="l00202"></a>00202 <span class="comment"> */</span>
<a name="l00203"></a>00203 <span class="keyword">struct </span><a class="code" href="obs_2include_2mrpt_2obs_2link__pragmas_8h.html#ae8bb1b2647c58d6ae2eb30ca31fcf5a1">OBS_IMPEXP</a> <a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___p_z_s.html" title="The GPS datum for TopCon's mmGPS devices.">TGPSDatum_PZS</a>
<a name="l00204"></a>00204 {
<a name="l00205"></a>00205 <a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___p_z_s.html" title="The GPS datum for TopCon's mmGPS devices.">TGPSDatum_PZS</a>();
<a name="l00206"></a>00206 <span class="comment"></span>
<a name="l00207"></a>00207 <span class="comment"> /** Return the geodetic coords as a mrpt::topography::TGeodeticCoords structure (requires linking against mrpt-topography)</span>
<a name="l00208"></a>00208 <span class="comment"> * Call as: getAsStruct<TGeodeticCoords>();</span>
<a name="l00209"></a>00209 <span class="comment"> */</span>
<a name="l00210"></a>00210 <span class="keyword">template</span> <<span class="keyword">class</span> TGEODETICCOORDS>
<a name="l00211"></a><a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___p_z_s.html#a0a859e4ebc3312e6fd04f668a00587ff">00211</a> <span class="keyword">inline</span> TGEODETICCOORDS <a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___p_z_s.html#a0a859e4ebc3312e6fd04f668a00587ff" title="Return the geodetic coords as a mrpt::topography::TGeodeticCoords structure (requires linking against...">getAsStruct</a>()<span class="keyword"> const </span>{
<a name="l00212"></a>00212 <span class="keywordflow">return</span> TGEODETICCOORDS(latitude_degrees,longitude_degrees,height_meters);
<a name="l00213"></a>00213 }
<a name="l00214"></a>00214
<a name="l00215"></a><a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___p_z_s.html#a1938a24b2a24f3ecea2d2c18b2ae0bae">00215</a> <span class="keywordtype">double</span> <a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___p_z_s.html#a1938a24b2a24f3ecea2d2c18b2ae0bae" title="The measured latitude, in degrees (North:+ , South:-)">latitude_degrees</a>; <span class="comment">//!< The measured latitude, in degrees (North:+ , South:-)</span>
<a name="l00216"></a><a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___p_z_s.html#a26315f6f7ef8d181ec58eded4505a83c">00216</a> <span class="comment"></span> <span class="keywordtype">double</span> <a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___p_z_s.html#a26315f6f7ef8d181ec58eded4505a83c" title="The measured longitude, in degrees (East:+ , West:-)">longitude_degrees</a>; <span class="comment">//!< The measured longitude, in degrees (East:+ , West:-)</span>
<a name="l00217"></a><a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___p_z_s.html#a7b7e80c3ca5b73489031569547adc13c">00217</a> <span class="comment"></span> <span class="keywordtype">double</span> <a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___p_z_s.html#a7b7e80c3ca5b73489031569547adc13c" title="ellipsoidal height from N-beam [m] perhaps weighted with regular gps">height_meters</a>; <span class="comment">//!< ellipsoidal height from N-beam [m] perhaps weighted with regular gps</span>
<a name="l00218"></a><a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___p_z_s.html#a35e1b68f4429ed0e5e2e98f533a93d42">00218</a> <span class="comment"></span> <span class="keywordtype">double</span> <a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___p_z_s.html#a35e1b68f4429ed0e5e2e98f533a93d42" title="ellipsoidal height [m] without N-beam correction">RTK_height_meters</a>; <span class="comment">//!< ellipsoidal height [m] without N-beam correction</span>
<a name="l00219"></a><a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___p_z_s.html#a8a6bb103fbd928d80e539b35e2a7540a">00219</a> <span class="comment"></span> <span class="keywordtype">float</span> <a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___p_z_s.html#a8a6bb103fbd928d80e539b35e2a7540a" title="position SEP [m]">PSigma</a>; <span class="comment">//!< position SEP [m]</span>
<a name="l00220"></a><a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___p_z_s.html#a1ef154b2e5093b8d117287c33d031fa6">00220</a> <span class="comment"></span> <span class="keywordtype">double</span> <a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___p_z_s.html#a1ef154b2e5093b8d117287c33d031fa6" title="Vertical angle of N-beam.">angle_transmitter</a>; <span class="comment">//!< Vertical angle of N-beam</span>
<a name="l00221"></a><a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___p_z_s.html#a84489ee7ec3f20b355bd845d80073d91">00221</a> <span class="comment"></span> uint8_t <a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___p_z_s.html#a84489ee7ec3f20b355bd845d80073d91" title="ID of the transmitter [1-4], 0 if none.">nId</a>; <span class="comment">//!< ID of the transmitter [1-4], 0 if none.</span>
<a name="l00222"></a><a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___p_z_s.html#ade0dad70a3698b8c37518cb1e3f89719">00222</a> <span class="comment"></span> uint8_t <a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___p_z_s.html#ade0dad70a3698b8c37518cb1e3f89719" title="1: GPS, 2: mmGPS">Fix</a>; <span class="comment">//!< 1: GPS, 2: mmGPS</span>
<a name="l00223"></a><a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___p_z_s.html#a4aaa675e54f92da050002df365ecbb1f">00223</a> <span class="comment"></span> uint8_t <a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___p_z_s.html#a4aaa675e54f92da050002df365ecbb1f" title="battery level on transmitter">TXBattery</a>; <span class="comment">//!< battery level on transmitter</span>
<a name="l00224"></a><a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___p_z_s.html#afc01071b79ad38d36ff5e75aeb92e93e">00224</a> <span class="comment"></span> uint8_t <a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___p_z_s.html#afc01071b79ad38d36ff5e75aeb92e93e" title="battery level on receiver">RXBattery</a>; <span class="comment">//!< battery level on receiver</span>
<a name="l00225"></a><a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___p_z_s.html#aff054cea0e8af9cd28eea382148410bc">00225</a> <span class="comment"></span> uint8_t <a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___p_z_s.html#aff054cea0e8af9cd28eea382148410bc">error</a>; <span class="comment">//! system error indicator</span>
<a name="l00226"></a>00226 <span class="comment"></span>
<a name="l00227"></a><a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___p_z_s.html#abe8fbbe5ddbee5c814634d3b412b3c22">00227</a> <span class="keywordtype">bool</span> <a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___p_z_s.html#abe8fbbe5ddbee5c814634d3b412b3c22" title="system error indicator">hasCartesianPosVel</a>;
<a name="l00228"></a><a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___p_z_s.html#aff47b5232b3fc45955b7a8d27b896deb">00228</a> <span class="keywordtype">double</span> cartesian_x,cartesian_y,<a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___p_z_s.html#aff47b5232b3fc45955b7a8d27b896deb" title="Only if hasCartesianPosVel is true.">cartesian_z</a>; <span class="comment">//!< Only if hasCartesianPosVel is true</span>
<a name="l00229"></a><a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___p_z_s.html#ac8935cb50a75b46920fd382707d276d7">00229</a> <span class="comment"></span> <span class="keywordtype">double</span> cartesian_vx,cartesian_vy,<a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___p_z_s.html#ac8935cb50a75b46920fd382707d276d7" title="Only if hasCartesianPosVel is true.">cartesian_vz</a>; <span class="comment">//!< Only if hasCartesianPosVel is true</span>
<a name="l00230"></a>00230 <span class="comment"></span>
<a name="l00231"></a><a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___p_z_s.html#aeeceb6102f916bbf75fb970371200d70">00231</a> <span class="keywordtype">bool</span> <a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___p_z_s.html#aeeceb6102f916bbf75fb970371200d70">hasPosCov</a>;
<a name="l00232"></a><a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___p_z_s.html#a85e31020acc65c1fea45e17c585dbcf0">00232</a> mrpt<a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html">::math::CMatrixFloat44</a> <a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___p_z_s.html#a85e31020acc65c1fea45e17c585dbcf0" title="Only if hasPosCov is true.">pos_covariance</a>; <span class="comment">//!< Only if hasPosCov is true</span>
<a name="l00233"></a>00233 <span class="comment"></span>
<a name="l00234"></a><a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___p_z_s.html#a69587519cb8c0814b4cce821ac4d5c2d">00234</a> <span class="keywordtype">bool</span> <a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___p_z_s.html#a69587519cb8c0814b4cce821ac4d5c2d">hasVelCov</a>;
<a name="l00235"></a><a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___p_z_s.html#a72bc4b691bc79095be6dfedf862d481a">00235</a> mrpt<a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html">::math::CMatrixFloat44</a> <a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___p_z_s.html#a72bc4b691bc79095be6dfedf862d481a" title="Only if hasPosCov is true.">vel_covariance</a>; <span class="comment">//!< Only if hasPosCov is true</span>
<a name="l00236"></a>00236 <span class="comment"></span>
<a name="l00237"></a><a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___p_z_s.html#a62b965800ea0eec5ae2e1f583d22a833">00237</a> <span class="keywordtype">bool</span> <a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___p_z_s.html#a62b965800ea0eec5ae2e1f583d22a833">hasStats</a>;
<a name="l00238"></a><a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___p_z_s.html#a5c57b178248b27b5cea3011a7d5a5f6e">00238</a> uint8_t <a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___p_z_s.html#a5c57b178248b27b5cea3011a7d5a5f6e">stats_GPS_sats_used</a>, stats_GLONASS_sats_used; <span class="comment">//<! Only if hasStats is true</span>
<a name="l00239"></a><a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___p_z_s.html#a0d351e6afe3f06191e27183ea158e1ed">00239</a> uint8_t <a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___p_z_s.html#a0d351e6afe3f06191e27183ea158e1ed" title="[0,100] %, only in modes other than RTK FIXED.">stats_rtk_fix_progress</a>; <span class="comment">//!< [0,100] %, only in modes other than RTK FIXED.</span>
<a name="l00240"></a>00240 <span class="comment"></span>
<a name="l00241"></a>00241 };
<a name="l00242"></a>00242
<a name="l00243"></a>00243 <span class="comment"></span>
<a name="l00244"></a>00244 <span class="comment"> /** A generic structure for statistics about tracked satelites and their positions.</span>
<a name="l00245"></a>00245 <span class="comment"> */</span>
<a name="l00246"></a>00246 <span class="keyword">struct </span><a class="code" href="obs_2include_2mrpt_2obs_2link__pragmas_8h.html#ae8bb1b2647c58d6ae2eb30ca31fcf5a1">OBS_IMPEXP</a> <a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___s_a_t_s.html" title="A generic structure for statistics about tracked satelites and their positions.">TGPSDatum_SATS</a>
<a name="l00247"></a>00247 {
<a name="l00248"></a>00248 <a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___s_a_t_s.html" title="A generic structure for statistics about tracked satelites and their positions.">TGPSDatum_SATS</a>();
<a name="l00249"></a><a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___s_a_t_s.html#a98b93030a4477b9f19e43a3f95f8ac30">00249</a> <a class="code" href="classstd_1_1vector.html" title="STL class.">vector_byte</a> <a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___s_a_t_s.html#a98b93030a4477b9f19e43a3f95f8ac30" title="The list of USI (Universal Sat ID) for the detected sats (See GRIL Manual, pag 4-31).">USIs</a>; <span class="comment">//!< The list of USI (Universal Sat ID) for the detected sats (See GRIL Manual, pag 4-31).</span>
<a name="l00250"></a><a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___s_a_t_s.html#a4d334b542a2cf90f95f88c312d68fb23">00250</a> <span class="comment"></span> <a class="code" href="classstd_1_1vector.html" title="STL class.">vector_signed_byte</a> <a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___s_a_t_s.html#a4d334b542a2cf90f95f88c312d68fb23" title="Elevation (in degrees, 0-90) for each satellite in USIs.">ELs</a>; <span class="comment">//!< Elevation (in degrees, 0-90) for each satellite in USIs.</span>
<a name="l00251"></a><a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___s_a_t_s.html#a48e79a7e5655194bab5fcc962a95d95a">00251</a> <span class="comment"></span> <a class="code" href="classstd_1_1vector.html" title="STL class.">vector_signed_word</a> <a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___s_a_t_s.html#a48e79a7e5655194bab5fcc962a95d95a" title="Azimuth (in degrees, 0-360) for each satellite in USIs.">AZs</a>; <span class="comment">//!< Azimuth (in degrees, 0-360) for each satellite in USIs.</span>
<a name="l00252"></a>00252 <span class="comment"></span> };
<a name="l00253"></a>00253
<a name="l00254"></a>00254 <span class="comment"></span>
<a name="l00255"></a>00255 <span class="comment"> /** Will be true if the corresponding field contains data read from the sensor, or false if it is not available.</span>
<a name="l00256"></a>00256 <span class="comment"> * \sa GGA_datum</span>
<a name="l00257"></a>00257 <span class="comment"> */</span>
<a name="l00258"></a><a class="code" href="classmrpt_1_1slam_1_1_c_observation_g_p_s.html#a99778cda76ebce5d2b609abf6f13ae2a">00258</a> <span class="keywordtype">bool</span> <a class="code" href="classmrpt_1_1slam_1_1_c_observation_g_p_s.html#a99778cda76ebce5d2b609abf6f13ae2a" title="Will be true if the corresponding field contains data read from the sensor, or false if it is not ava...">has_GGA_datum</a>;
<a name="l00259"></a>00259 <span class="comment"></span>
<a name="l00260"></a>00260 <span class="comment"> /** Will be true if the corresponding field contains data read from the sensor, or false if it is not available.</span>
<a name="l00261"></a>00261 <span class="comment"> * \sa RMC_datum</span>
<a name="l00262"></a>00262 <span class="comment"> */</span>
<a name="l00263"></a><a class="code" href="classmrpt_1_1slam_1_1_c_observation_g_p_s.html#ad23e44fe6f6aa97abfbaf5f7a56bdd23">00263</a> <span class="keywordtype">bool</span> <a class="code" href="classmrpt_1_1slam_1_1_c_observation_g_p_s.html#ad23e44fe6f6aa97abfbaf5f7a56bdd23" title="Will be true if the corresponding field contains data read from the sensor, or false if it is not ava...">has_RMC_datum</a>;
<a name="l00264"></a>00264 <span class="comment"></span>
<a name="l00265"></a>00265 <span class="comment"> /** Will be true if the corresponding field contains data read from the sensor, or false if it is not available.</span>
<a name="l00266"></a>00266 <span class="comment"> * \sa PZS_datum</span>
<a name="l00267"></a>00267 <span class="comment"> */</span>
<a name="l00268"></a><a class="code" href="classmrpt_1_1slam_1_1_c_observation_g_p_s.html#a5833568bea586f634f8ff0af20b570b4">00268</a> <span class="keywordtype">bool</span> <a class="code" href="classmrpt_1_1slam_1_1_c_observation_g_p_s.html#a5833568bea586f634f8ff0af20b570b4" title="Will be true if the corresponding field contains data read from the sensor, or false if it is not ava...">has_PZS_datum</a>;
<a name="l00269"></a>00269 <span class="comment"></span>
<a name="l00270"></a>00270 <span class="comment"> /** Will be true if the corresponding field contains data read from the sensor, or false if it is not available.</span>
<a name="l00271"></a>00271 <span class="comment"> * \sa SATS_datum</span>
<a name="l00272"></a>00272 <span class="comment"> */</span>
<a name="l00273"></a><a class="code" href="classmrpt_1_1slam_1_1_c_observation_g_p_s.html#a447c41f4e1fb79039c8bc12ee5a916b8">00273</a> <span class="keywordtype">bool</span> <a class="code" href="classmrpt_1_1slam_1_1_c_observation_g_p_s.html#a447c41f4e1fb79039c8bc12ee5a916b8" title="Will be true if the corresponding field contains data read from the sensor, or false if it is not ava...">has_SATS_datum</a>;
<a name="l00274"></a>00274
<a name="l00275"></a><a class="code" href="classmrpt_1_1slam_1_1_c_observation_g_p_s.html#afdc694097889989f12f3c4296caacf91">00275</a> <a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___g_g_a.html" title="The GPS datum for GGA commands.">TGPSDatum_GGA</a> <a class="code" href="classmrpt_1_1slam_1_1_c_observation_g_p_s.html#afdc694097889989f12f3c4296caacf91" title="If "has_GGA_datum" is true, this contains the read GGA datum.">GGA_datum</a>; <span class="comment">//!< If "has_GGA_datum" is true, this contains the read GGA datum.</span>
<a name="l00276"></a><a class="code" href="classmrpt_1_1slam_1_1_c_observation_g_p_s.html#a25d6324dd217ef82d0dbb986040c25ce">00276</a> <span class="comment"></span> <a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___r_m_c.html" title="The GPS datum for RMC commands.">TGPSDatum_RMC</a> <a class="code" href="classmrpt_1_1slam_1_1_c_observation_g_p_s.html#a25d6324dd217ef82d0dbb986040c25ce" title="If "has_RMC_datum" is true, this contains the read RMC datum.">RMC_datum</a>; <span class="comment">//!< If "has_RMC_datum" is true, this contains the read RMC datum.</span>
<a name="l00277"></a><a class="code" href="classmrpt_1_1slam_1_1_c_observation_g_p_s.html#ac740f9cc38e79eee999442bb00d8664c">00277</a> <span class="comment"></span> <a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___p_z_s.html" title="The GPS datum for TopCon's mmGPS devices.">TGPSDatum_PZS</a> <a class="code" href="classmrpt_1_1slam_1_1_c_observation_g_p_s.html#ac740f9cc38e79eee999442bb00d8664c" title="If "has_PZS_datum" is true, this contains the read PZS datum (TopCon's mmGPS devices only)...">PZS_datum</a>; <span class="comment">//!< If "has_PZS_datum" is true, this contains the read PZS datum (TopCon's mmGPS devices only)</span>
<a name="l00278"></a><a class="code" href="classmrpt_1_1slam_1_1_c_observation_g_p_s.html#aac7a7fe40291f8d703a68a45c2b4ae89">00278</a> <span class="comment"></span> <a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___s_a_t_s.html" title="A generic structure for statistics about tracked satelites and their positions.">TGPSDatum_SATS</a> <a class="code" href="classmrpt_1_1slam_1_1_c_observation_g_p_s.html#aac7a7fe40291f8d703a68a45c2b4ae89" title="If "has_SATS_datum" is true, this contains the read PZS datum (TopCon's mmGPS devices only)...">SATS_datum</a>; <span class="comment">//!< If "has_SATS_datum" is true, this contains the read PZS datum (TopCon's mmGPS devices only)</span>
<a name="l00279"></a>00279 <span class="comment"></span><span class="comment"></span>
<a name="l00280"></a>00280 <span class="comment"> /** A general method to retrieve the sensor pose on the robot.</span>
<a name="l00281"></a>00281 <span class="comment"> * Note that most sensors will return a full (6D) CPose3D, but see the derived classes for more details or special cases.</span>
<a name="l00282"></a>00282 <span class="comment"> * \sa setSensorPose</span>
<a name="l00283"></a>00283 <span class="comment"> */</span>
<a name="l00284"></a><a class="code" href="classmrpt_1_1slam_1_1_c_observation_g_p_s.html#a52cdf80810fda28e611f06100b912402">00284</a> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1slam_1_1_c_observation_g_p_s.html#a52cdf80810fda28e611f06100b912402" title="A general method to retrieve the sensor pose on the robot.">getSensorPose</a>( <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d.html" title="A class used to store a 3D pose (a 3D translation + a rotation in 3D).">CPose3D</a> &out_sensorPose )<span class="keyword"> const </span>{ out_sensorPose = sensorPose; }
<a name="l00285"></a>00285
<a name="l00286"></a>00286 <span class="comment"></span>
<a name="l00287"></a>00287 <span class="comment"> /** A general method to change the sensor pose on the robot.</span>
<a name="l00288"></a>00288 <span class="comment"> * Note that most sensors will use the full (6D) CPose3D, but see the derived classes for more details or special cases.</span>
<a name="l00289"></a>00289 <span class="comment"> * \sa getSensorPose</span>
<a name="l00290"></a>00290 <span class="comment"> */</span>
<a name="l00291"></a><a class="code" href="classmrpt_1_1slam_1_1_c_observation_g_p_s.html#a329d88db22e2f583f9f3e18d245ff8e0">00291</a> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1slam_1_1_c_observation_g_p_s.html#a329d88db22e2f583f9f3e18d245ff8e0" title="A general method to change the sensor pose on the robot.">setSensorPose</a>( <span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d.html" title="A class used to store a 3D pose (a 3D translation + a rotation in 3D).">CPose3D</a> &newSensorPose ) { sensorPose = newSensorPose; }
<a name="l00292"></a>00292
<a name="l00293"></a>00293
<a name="l00294"></a>00294 }; <span class="comment">// End of class def.</span>
<a name="l00295"></a>00295
<a name="l00296"></a>00296
<a name="l00297"></a>00297 } <span class="comment">// End of namespace</span>
<a name="l00298"></a>00298 } <span class="comment">// End of namespace</span>
<a name="l00299"></a>00299
<a name="l00300"></a>00300 <span class="preprocessor">#endif</span>
</pre></div></div>
</div>
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