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<title>mrpt::slam::CObservationGPS::TGPSDatum_GGA Struct Reference</title>
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<!-- doxytag: class="mrpt::slam::CObservationGPS::TGPSDatum_GGA" --><hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>The GPS datum for GGA commands. </p>
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<p><code>#include <<a class="el" href="_c_observation_g_p_s_8h_source.html">mrpt/slam/CObservationGPS.h</a>></code></p>
<p><a href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___g_g_a-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___g_g_a.html#a82a7f8ed2798b89500ab7b6bbe2b0267">TGPSDatum_GGA</a> ()</td></tr>
<tr><td class="memTemplParams" colspan="2">template<class TGEODETICCOORDS > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">TGEODETICCOORDS </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___g_g_a.html#a0139b7d9acc50ebbaba5db2cdb0fcebf">getOrthoAsStruct</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Return the geodetic coords as a <a class="el" href="structmrpt_1_1topography_1_1_t_geodetic_coords.html" title="A set of geodetic coordinates: latitude, longitude and height, defined over a given geoid (typically...">mrpt::topography::TGeodeticCoords</a> structure (requires linking against mrpt-topography) Call as: <a class="el" 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<TGeodeticCoords>()</a>;. <a href="#a0139b7d9acc50ebbaba5db2cdb0fcebf"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<class TGEODETICCOORDS > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">TGEODETICCOORDS </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___g_g_a.html#a35c8423dc5dd83fbd2937a103647785d">getAsStruct</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Return the geodetic coords as a <a class="el" href="structmrpt_1_1topography_1_1_t_geodetic_coords.html" title="A set of geodetic coordinates: latitude, longitude and height, defined over a given geoid (typically...">mrpt::topography::TGeodeticCoords</a> structure (requires linking against mrpt-topography) Call as: <a class="el" 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<TGeodeticCoords>()</a>;. <a href="#a35c8423dc5dd83fbd2937a103647785d"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-attribs"></a>
Public Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_u_t_c_time.html">TUTCTime</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___g_g_a.html#ac34ded1d444e871d026bccd7ec42cf3e">UTCTime</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The GPS sensor measured timestamp (in UTC time) <a href="#ac34ded1d444e871d026bccd7ec42cf3e"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___g_g_a.html#a4077c2db51ad89ca5833de685ba1c7f0">latitude_degrees</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The measured latitude, in degrees (North:+ , South:-) <a href="#a4077c2db51ad89ca5833de685ba1c7f0"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___g_g_a.html#a9f6b56af31c0060bacafcfd970d94334">longitude_degrees</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The measured longitude, in degrees (East:+ , West:-) <a href="#a9f6b56af31c0060bacafcfd970d94334"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">uint8_t </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___g_g_a.html#a4a782eabebb640bcb6c4c08638dcc6cd">fix_quality</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The values defined in the NMEA standard are the following: <a href="#a4a782eabebb640bcb6c4c08638dcc6cd"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___g_g_a.html#a28bd274b376b68bd55f955740ef37859">altitude_meters</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The measured altitude, in meters (A). <a href="#a28bd274b376b68bd55f955740ef37859"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___g_g_a.html#a60bb9557bed3e3192879fac0614c7a84">geoidal_distance</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Difference between the measured altitude and the geoid, in meters (B). <a href="#a60bb9557bed3e3192879fac0614c7a84"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___g_g_a.html#a51dae08dc38a85bf138abf96469035ad">orthometric_altitude</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The measured orthometric altitude, in meters (A)+(B). <a href="#a51dae08dc38a85bf138abf96469035ad"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___g_g_a.html#a3df11ad42805cace42861bd8c562adbd">corrected_orthometric_altitude</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The corrected (mmGPS) orthometric altitude, in meters mmGPS(A+B). <a href="#a3df11ad42805cace42861bd8c562adbd"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">uint32_t </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___g_g_a.html#aec89122f5c070d157be6179437a375ae">satellitesUsed</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The number of satelites used to compute this estimation. <a href="#aec89122f5c070d157be6179437a375ae"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___g_g_a.html#a6baeaea1b7d5d1324fbf93c26b3319c4">thereis_HDOP</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">This states whether to take into account the value in the HDOP field. <a href="#a6baeaea1b7d5d1324fbf93c26b3319c4"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___g_g_a.html#a519254d691e1804408277205b2117f78">HDOP</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The HDOP (Horizontal Dilution of Precision) as returned by the sensor. <a href="#a519254d691e1804408277205b2117f78"></a><br/></td></tr>
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<hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="a82a7f8ed2798b89500ab7b6bbe2b0267"></a><!-- doxytag: member="mrpt::slam::CObservationGPS::TGPSDatum_GGA::TGPSDatum_GGA" ref="a82a7f8ed2798b89500ab7b6bbe2b0267" args="()" -->
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<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="a35c8423dc5dd83fbd2937a103647785d"></a><!-- doxytag: member="mrpt::slam::CObservationGPS::TGPSDatum_GGA::getAsStruct" ref="a35c8423dc5dd83fbd2937a103647785d" args="() const " -->
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template<class TGEODETICCOORDS > </div>
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<p>Return the geodetic coords as a <a class="el" href="structmrpt_1_1topography_1_1_t_geodetic_coords.html" title="A set of geodetic coordinates: latitude, longitude and height, defined over a given geoid (typically...">mrpt::topography::TGeodeticCoords</a> structure (requires linking against mrpt-topography) Call as: <a class="el" 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<TGeodeticCoords>()</a>;. </p>
<p>Definition at line <a class="el" href="_c_observation_g_p_s_8h_source.html#l00111">111</a> of file <a class="el" href="_c_observation_g_p_s_8h_source.html">CObservationGPS.h</a>.</p>
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<a class="anchor" id="a0139b7d9acc50ebbaba5db2cdb0fcebf"></a><!-- doxytag: member="mrpt::slam::CObservationGPS::TGPSDatum_GGA::getOrthoAsStruct" ref="a0139b7d9acc50ebbaba5db2cdb0fcebf" args="() const " -->
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<p>Return the geodetic coords as a <a class="el" href="structmrpt_1_1topography_1_1_t_geodetic_coords.html" title="A set of geodetic coordinates: latitude, longitude and height, defined over a given geoid (typically...">mrpt::topography::TGeodeticCoords</a> structure (requires linking against mrpt-topography) Call as: <a class="el" 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<TGeodeticCoords>()</a>;. </p>
<p>Definition at line <a class="el" href="_c_observation_g_p_s_8h_source.html#l00103">103</a> of file <a class="el" href="_c_observation_g_p_s_8h_source.html">CObservationGPS.h</a>.</p>
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<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="a28bd274b376b68bd55f955740ef37859"></a><!-- doxytag: member="mrpt::slam::CObservationGPS::TGPSDatum_GGA::altitude_meters" ref="a28bd274b376b68bd55f955740ef37859" args="" -->
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<td class="memname">double <a class="el" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___g_g_a.html#a28bd274b376b68bd55f955740ef37859">mrpt::slam::CObservationGPS::TGPSDatum_GGA::altitude_meters</a></td>
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<p>The measured altitude, in meters (A). </p>
<p>Definition at line <a class="el" href="_c_observation_g_p_s_8h_source.html#l00143">143</a> of file <a class="el" href="_c_observation_g_p_s_8h_source.html">CObservationGPS.h</a>.</p>
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<a class="anchor" id="a3df11ad42805cace42861bd8c562adbd"></a><!-- doxytag: member="mrpt::slam::CObservationGPS::TGPSDatum_GGA::corrected_orthometric_altitude" ref="a3df11ad42805cace42861bd8c562adbd" args="" -->
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<td class="memname">double <a class="el" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___g_g_a.html#a3df11ad42805cace42861bd8c562adbd">mrpt::slam::CObservationGPS::TGPSDatum_GGA::corrected_orthometric_altitude</a></td>
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<p>The corrected (mmGPS) orthometric altitude, in meters mmGPS(A+B). </p>
<p>Definition at line <a class="el" href="_c_observation_g_p_s_8h_source.html#l00155">155</a> of file <a class="el" href="_c_observation_g_p_s_8h_source.html">CObservationGPS.h</a>.</p>
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<a class="anchor" id="a4a782eabebb640bcb6c4c08638dcc6cd"></a><!-- doxytag: member="mrpt::slam::CObservationGPS::TGPSDatum_GGA::fix_quality" ref="a4a782eabebb640bcb6c4c08638dcc6cd" args="" -->
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<td class="memname">uint8_t <a class="el" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___g_g_a.html#a4a782eabebb640bcb6c4c08638dcc6cd">mrpt::slam::CObservationGPS::TGPSDatum_GGA::fix_quality</a></td>
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<p>The values defined in the NMEA standard are the following: </p>
<p>0 = invalid 1 = GPS fix (SPS) 2 = DGPS fix 3 = PPS fix 4 = Real Time Kinematic 5 = Float RTK 6 = estimated (dead reckoning) (2.3 feature) 7 = Manual input mode 8 = Simulation mode </p>
<p>Definition at line <a class="el" href="_c_observation_g_p_s_8h_source.html#l00139">139</a> of file <a class="el" href="_c_observation_g_p_s_8h_source.html">CObservationGPS.h</a>.</p>
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<a class="anchor" id="a60bb9557bed3e3192879fac0614c7a84"></a><!-- doxytag: member="mrpt::slam::CObservationGPS::TGPSDatum_GGA::geoidal_distance" ref="a60bb9557bed3e3192879fac0614c7a84" args="" -->
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<p>Difference between the measured altitude and the geoid, in meters (B). </p>
<p>Definition at line <a class="el" href="_c_observation_g_p_s_8h_source.html#l00147">147</a> of file <a class="el" href="_c_observation_g_p_s_8h_source.html">CObservationGPS.h</a>.</p>
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<p>The HDOP (Horizontal Dilution of Precision) as returned by the sensor. </p>
<p>Definition at line <a class="el" href="_c_observation_g_p_s_8h_source.html#l00167">167</a> of file <a class="el" href="_c_observation_g_p_s_8h_source.html">CObservationGPS.h</a>.</p>
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<td class="memname">double <a class="el" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___g_g_a.html#a4077c2db51ad89ca5833de685ba1c7f0">mrpt::slam::CObservationGPS::TGPSDatum_GGA::latitude_degrees</a></td>
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<p>The measured latitude, in degrees (North:+ , South:-) </p>
<p>Definition at line <a class="el" href="_c_observation_g_p_s_8h_source.html#l00121">121</a> of file <a class="el" href="_c_observation_g_p_s_8h_source.html">CObservationGPS.h</a>.</p>
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<a class="anchor" id="a9f6b56af31c0060bacafcfd970d94334"></a><!-- doxytag: member="mrpt::slam::CObservationGPS::TGPSDatum_GGA::longitude_degrees" ref="a9f6b56af31c0060bacafcfd970d94334" args="" -->
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<td class="memname">double <a class="el" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___g_g_a.html#a9f6b56af31c0060bacafcfd970d94334">mrpt::slam::CObservationGPS::TGPSDatum_GGA::longitude_degrees</a></td>
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<p>The measured longitude, in degrees (East:+ , West:-) </p>
<p>Definition at line <a class="el" href="_c_observation_g_p_s_8h_source.html#l00125">125</a> of file <a class="el" href="_c_observation_g_p_s_8h_source.html">CObservationGPS.h</a>.</p>
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<a class="anchor" id="a51dae08dc38a85bf138abf96469035ad"></a><!-- doxytag: member="mrpt::slam::CObservationGPS::TGPSDatum_GGA::orthometric_altitude" ref="a51dae08dc38a85bf138abf96469035ad" args="" -->
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<td class="memname">double <a class="el" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___g_g_a.html#a51dae08dc38a85bf138abf96469035ad">mrpt::slam::CObservationGPS::TGPSDatum_GGA::orthometric_altitude</a></td>
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<p>The measured orthometric altitude, in meters (A)+(B). </p>
<p>Definition at line <a class="el" href="_c_observation_g_p_s_8h_source.html#l00151">151</a> of file <a class="el" href="_c_observation_g_p_s_8h_source.html">CObservationGPS.h</a>.</p>
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<a class="anchor" id="aec89122f5c070d157be6179437a375ae"></a><!-- doxytag: member="mrpt::slam::CObservationGPS::TGPSDatum_GGA::satellitesUsed" ref="aec89122f5c070d157be6179437a375ae" args="" -->
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<td class="memname">uint32_t <a class="el" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___g_g_a.html#aec89122f5c070d157be6179437a375ae">mrpt::slam::CObservationGPS::TGPSDatum_GGA::satellitesUsed</a></td>
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<p>The number of satelites used to compute this estimation. </p>
<p>Definition at line <a class="el" href="_c_observation_g_p_s_8h_source.html#l00159">159</a> of file <a class="el" href="_c_observation_g_p_s_8h_source.html">CObservationGPS.h</a>.</p>
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<td class="memname">bool <a class="el" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___g_g_a.html#a6baeaea1b7d5d1324fbf93c26b3319c4">mrpt::slam::CObservationGPS::TGPSDatum_GGA::thereis_HDOP</a></td>
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<p>This states whether to take into account the value in the HDOP field. </p>
<p>Definition at line <a class="el" href="_c_observation_g_p_s_8h_source.html#l00163">163</a> of file <a class="el" href="_c_observation_g_p_s_8h_source.html">CObservationGPS.h</a>.</p>
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<a class="anchor" id="ac34ded1d444e871d026bccd7ec42cf3e"></a><!-- doxytag: member="mrpt::slam::CObservationGPS::TGPSDatum_GGA::UTCTime" ref="ac34ded1d444e871d026bccd7ec42cf3e" args="" -->
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<td class="memname"><a class="el" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_u_t_c_time.html">TUTCTime</a> <a class="el" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_g_p_s_datum___g_g_a.html#ac34ded1d444e871d026bccd7ec42cf3e">mrpt::slam::CObservationGPS::TGPSDatum_GGA::UTCTime</a></td>
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<p>The GPS sensor measured timestamp (in UTC time) </p>
<p>Definition at line <a class="el" href="_c_observation_g_p_s_8h_source.html#l00117">117</a> of file <a class="el" href="_c_observation_g_p_s_8h_source.html">CObservationGPS.h</a>.</p>
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<br><hr><br> <table border="0" width="100%"> <tr> <td> Page generated by <a href="http://www.doxygen.org" target="_blank">Doxygen 1.7.5</a> for MRPT 0.9.5 SVN: at Sun Sep 25 17:20:18 UTC 2011</td><td></td> <td width="100"> </td> <td width="150"> </td></tr> </table> </body></html>
