Detailed Description

The GPS datum for GGA commands.

#include <mrpt/slam/CObservationGPS.h>

Public Member Functions
	TGPSDatum_GGA ()
template<class TGEODETICCOORDS >
TGEODETICCOORDS	getOrthoAsStruct () const
	Return the geodetic coords as a mrpt::topography::TGeodeticCoords structure (requires linking against mrpt-topography) Call as: getAsStruct<TGeodeticCoords>();.
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
TUTCTime	UTCTime
	The GPS sensor measured timestamp (in UTC time)
double	latitude_degrees
	The measured latitude, in degrees (North:+ , South:-)
double	longitude_degrees
	The measured longitude, in degrees (East:+ , West:-)
uint8_t	fix_quality
	The values defined in the NMEA standard are the following:
double	altitude_meters
	The measured altitude, in meters (A).
double	geoidal_distance
	Difference between the measured altitude and the geoid, in meters (B).
double	orthometric_altitude
	The measured orthometric altitude, in meters (A)+(B).
double	corrected_orthometric_altitude
	The corrected (mmGPS) orthometric altitude, in meters mmGPS(A+B).
uint32_t	satellitesUsed
	The number of satelites used to compute this estimation.
bool	thereis_HDOP
	This states whether to take into account the value in the HDOP field.
float	HDOP
	The HDOP (Horizontal Dilution of Precision) as returned by the sensor.

Constructor & Destructor Documentation

mrpt::slam::CObservationGPS::TGPSDatum_GGA::TGPSDatum_GGA ( )

Member Function Documentation

template<class TGEODETICCOORDS >

TGEODETICCOORDS mrpt::slam::CObservationGPS::TGPSDatum_GGA::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 111 of file CObservationGPS.h.

template<class TGEODETICCOORDS >

TGEODETICCOORDS mrpt::slam::CObservationGPS::TGPSDatum_GGA::getOrthoAsStruct ( ) const [inline]

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

Definition at line 103 of file CObservationGPS.h.

Member Data Documentation

double mrpt::slam::CObservationGPS::TGPSDatum_GGA::altitude_meters

The measured altitude, in meters (A).

Definition at line 143 of file CObservationGPS.h.

double mrpt::slam::CObservationGPS::TGPSDatum_GGA::corrected_orthometric_altitude

The corrected (mmGPS) orthometric altitude, in meters mmGPS(A+B).

Definition at line 155 of file CObservationGPS.h.

uint8_t mrpt::slam::CObservationGPS::TGPSDatum_GGA::fix_quality

The values defined in the NMEA standard are the following:

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

Definition at line 139 of file CObservationGPS.h.

double mrpt::slam::CObservationGPS::TGPSDatum_GGA::geoidal_distance

Difference between the measured altitude and the geoid, in meters (B).

Definition at line 147 of file CObservationGPS.h.

float mrpt::slam::CObservationGPS::TGPSDatum_GGA::HDOP

The HDOP (Horizontal Dilution of Precision) as returned by the sensor.

Definition at line 167 of file CObservationGPS.h.

double mrpt::slam::CObservationGPS::TGPSDatum_GGA::latitude_degrees

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

Definition at line 121 of file CObservationGPS.h.

double mrpt::slam::CObservationGPS::TGPSDatum_GGA::longitude_degrees

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