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mrpt::hwdrivers::CGPSInterface Class Reference
[mrpt-hwdrivers]

Detailed Description

A parser of NMEA commands, for connecting to a GPS by a serial port.

This class also supports more advanced GPS equipped with RTK corrections. See the JAVAD/TopCon extra initialization parameters.

  PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
 -------------------------------------------------------
   [supplied_section_name]
    COM_port_WIN = COM3
    COM_port_LIN = ttyS0
    baudRate     = 4800   // The baudrate of the communications (typ. 4800 bauds)
    pose_x       = 0      // 3D position of the sensed point relative to the robot (meters)
    pose_y       = 0
    pose_z       = 0
    customInit   =       // See below for possible values

           // The next parameters are optional and will be used only
    // if customInit=="JAVAD" to enable/configure the usage of RTK corrections:
    //JAVAD_rtk_src_port=/dev/ser/b
    //JAVAD_rtk_src_baud=9600
    //JAVAD_rtk_format=cmr

VERSIONS HISTORY: -9/JUN/2006: First version (JLBC) -4/JUN/2008: Added virtual methods for device-specific initialization commands. -10/JUN/2008: Converted into CGenericSensor class (there are no inhirited classes anymore).

#include <mrpt/hwdrivers/CGPSInterface.h>

Inheritance diagram for mrpt::hwdrivers::CGPSInterface:
Inheritance graph
[legend]

List of all members.

Public Types

enum  TSensorState { ssInitializing = 0, ssWorking, ssError }
 The current state of the sensor. More...
typedef std::multimap
< mrpt::system::TTimeStamp,
mrpt::utils::CSerializablePtr > 		TListObservations
typedef std::pair
< mrpt::system::TTimeStamp,
mrpt::utils::CSerializablePtr > 		TListObsPair

Public Member Functions

 CGPSInterface (int BUFFER_LENGTH=500, mrpt::hwdrivers::CSerialPort *outPort=NULL, mrpt::synch::CCriticalSection *csOutPort=NULL)
 Constructor.
virtual ~CGPSInterface ()
 Destructor.
void doProcess ()
 This method should be called periodically (at least at 1Hz to capture ALL the real-time data) It is thread safe, i.e.
bool isGPS_connected ()
 Returns true if communications work.
bool isGPS_signalAcquired ()
 Returns true if the last message from the GPS indicates that the signal from sats has been acquired.
void setSerialPortName (const std::string &COM_port)
 Set the serial port to use (COM1, ttyUSB0, etc).
std::string getSerialPortName () const
 Get the serial port to use (COM1, ttyUSB0, etc).
void setExternCOM (CSerialPort *outPort, mrpt::synch::CCriticalSection *csOutPort)
bool isAIMConfigured ()
virtual const
mrpt::hwdrivers::TSensorClassId * 		GetRuntimeClass () const =0
TSensorState getState () const
 The current state of the sensor.
double getProcessRate () const
std::string getSensorLabel () const
void setSensorLabel (const std::string &sensorLabel)
void loadConfig (const mrpt::utils::CConfigFileBase &configSource, const std::string &section)
 Loads the generic settings common to any sensor (See CGenericSensor), then call to "loadConfig_sensorSpecific"

Exceptions:
Thismethod throws an exception with a descriptive message if some critical parameter is missing or has an invalid value.

virtual void initialize ()
 This method can or cannot be implemented in the derived class, depending on the need for it.
void getObservations (TListObservations &lstObjects)
 Returns a list of enqueued objects, emptying it (thread-safe).
virtual void setPathForExternalImages (const std::string &directory)
 Set the path where to save off-rawlog image files (will be ignored in those sensors where this is not applicable).
void setExternalImageFormat (const std::string &ext)
 Set the extension ("jpg","gif","png",...) that determines the format of images saved externally The default is "jpg".
void setExternalImageJPEGQuality (const unsigned int quality)
 The quality of JPEG compression, when external images is enabled and the format is "jpg".
unsigned int getExternalImageJPEGQuality () const

Static Public Member Functions

static void printf_debug (const char *frmt,...)
 Sends a formated text to "debugOut" if not NULL, or to cout otherwise.
static void registerClass (const TSensorClassId *pNewClass)
 Register a class into the internal list of "CGenericSensor" descendents.
static CGenericSensor * createSensor (const std::string &className)
 Creates a sensor by a name of the class.
static CGenericSensorPtr createSensorPtr (const std::string &className)
 Just like createSensor, but returning a smart pointer to the newly created sensor object.

Protected Member Functions

bool OnConnectionEstablished ()
 Implements custom messages to be sent to the GPS unit just after connection and before normal use.
void loadConfig_sensorSpecific (const mrpt::utils::CConfigFileBase &configSource, const std::string &iniSection)
 Loads specific configuration for the device from a given source of configuration parameters, for example, an ".ini" file, loading from the section "[iniSection]" (see utils::CConfigFileBase and derived classes) See hwdrivers::CGPSInterface for the possible parameters.
void setJAVAD_rtk_src_port (const std::string &s)
 If not empty, will send a cmd "set,/par/pos/pd/port,...".
void setJAVAD_rtk_src_baud (unsigned int baud)
 Only used when "m_JAVAD_rtk_src_port" is not empty.
void setJAVAD_rtk_format (const std::string &s)
 Only used when "m_JAVAD_rtk_src_port" is not empty: format of RTK corrections: "cmr", "rtcm", "rtcm3", etc.
bool setJAVAD_AIM_mode ()
 Set Advanced Input Mode for the primary port.
bool unsetJAVAD_AIM_mode ()
 Unset Advanced Input Mode for the primary port and use it only as a command port.
bool useExternCOM ()
void appendObservations (const std::vector< mrpt::utils::CSerializablePtr > &obj)
 This method must be called by derived classes to enqueue a new observation in the list to be returned by getObservations.
void appendObservation (const mrpt::utils::CSerializablePtr &obj)
 Like appendObservations() but for just one observation.

Protected Attributes

CSerialPort m_COM
CSerialPort * m_out_COM
mrpt::synch::CCriticalSection * m_cs_out_COM
poses::CPoint3D m_sensorPose
std::string m_customInit
size_t m_grab_decimation_counter
 Used when "m_grab_decimation" is enabled.
TSensorState m_state
std::string m_path_for_external_images
 The path where to save off-rawlog images: empty means save images embedded in the rawlog.
std::string m_external_images_format
 The extension ("jpg","gif","png",...) that determines the format of images saved externally.
unsigned int m_external_images_jpeg_quality
 For JPEG images, the quality (default=95%).
Common settings to any sensor, loaded in "loadConfig"
double m_process_rate
 See CGenericSensor.
size_t m_max_queue_len
 See CGenericSensor.
size_t m_grab_decimation
 If set to N>=2, only 1 out of N observations will be saved to m_objList.
std::string m_sensorLabel
 See CGenericSensor.

Private Member Functions

bool tryToOpenTheCOM ()
 Returns true if the COM port is already open, or try to open it in other case.
void processBuffer ()
 Process data in "m_buffer" to extract GPS messages, and remove them from the buffer.
void processGPSstring (const std::string &s)
 Process a complete string from the GPS:
void getNextToken (const std::string &str, std::string &token, unsigned int &parserPos)
 Tokenize a string "str" into commas separated tokens.
void JAVAD_sendMessage (const char *str, bool waitForAnswer=true)
 Private auxiliary method. Raises exception on error.

Private Attributes

std::string m_COMname
int m_COMbauds
bool m_GPS_comsWork
bool m_GPS_signalAcquired
int m_BUFFER_LENGTH
char * m_buffer
size_t m_bufferLength
size_t m_bufferWritePos
std::string m_JAVAD_rtk_src_port
 If not empty, will send a cmd "set,/par/pos/pd/port,...". Example value: "/dev/ser/b".
unsigned int m_JAVAD_rtk_src_baud
 Only used when "m_JAVAD_rtk_src_port" is not empty.
std::string m_JAVAD_rtk_format
 Only used when "m_JAVAD_rtk_src_port" is not empty: format of RTK corrections: "cmr", "rtcm", "rtcm3", etc.
bool m_useAIMMode
 Use this mode for receive RTK corrections from a external source through the primary port.
TTimeStamp m_last_timestamp
bool m_AIMConfigured
 Indicates if the AIM has been properly set up.
double m_data_period
 The period in seconds which the data should be provided by the GPS.
mrpt::slam::CObservationGPS m_latestGPS_data
mrpt::slam::CObservationGPS::TUTCTime m_last_UTC_time

Member Typedef Documentation

typedef std::multimap< mrpt::system::TTimeStamp, mrpt::utils::CSerializablePtr > mrpt::hwdrivers::CGenericSensor::TListObservations [inherited]

Definition at line 84 of file CGenericSensor.h.

typedef std::pair< mrpt::system::TTimeStamp, mrpt::utils::CSerializablePtr > mrpt::hwdrivers::CGenericSensor::TListObsPair [inherited]

Definition at line 85 of file CGenericSensor.h.

Member Enumeration Documentation

enum mrpt::hwdrivers::CGenericSensor::TSensorState [inherited]

The current state of the sensor.

See also:
CGenericSensor::getState
Enumerator:
ssInitializing 
ssWorking 
ssError 

Definition at line 90 of file CGenericSensor.h.

Constructor & Destructor Documentation

mrpt::hwdrivers::CGPSInterface::CGPSInterface ( int  BUFFER_LENGTH = 500,
mrpt::hwdrivers::CSerialPort *  outPort = NULL,
mrpt::synch::CCriticalSection *  csOutPort = NULL 
)

Constructor.

Parameters:
BUFFER_LENGTHThe size of the communications buffer (default value should be fine always)
virtual mrpt::hwdrivers::CGPSInterface::~CGPSInterface ( ) [virtual]

Destructor.

Member Function Documentation

void mrpt::hwdrivers::CGenericSensor::appendObservation ( const mrpt::utils::CSerializablePtr &  obj) [inline, protected, inherited]

Like appendObservations() but for just one observation.

Definition at line 155 of file CGenericSensor.h.

void mrpt::hwdrivers::CGenericSensor::appendObservations ( const std::vector< mrpt::utils::CSerializablePtr > &  obj) [protected, inherited]

This method must be called by derived classes to enqueue a new observation in the list to be returned by getObservations.

Passed objects must be created in dynamic memory and a smart pointer passed. Example of creation: 

                                CObservationGPSPtr  o = CObservationGPSPtr( new CObservationGPS() );
                                o-> .... // Set data
                                appendObservation(o);

If several observations are passed at once in the vector, they'll be considered as a block regarding the grabbing decimation factor.

static CGenericSensor* mrpt::hwdrivers::CGenericSensor::createSensor ( const std::string &  className) [static, inherited]

Creates a sensor by a name of the class.

Typically the user may want to create a smart pointer around the returned pointer, whis is made with: 

   CGenericSensorPtr sensor = CGenericSensorPtr( CGenericSensor::createSensor("XXX") );
Returns:
A pointer to a new class, or NULL if class name is unknown.
static CGenericSensorPtr mrpt::hwdrivers::CGenericSensor::createSensorPtr ( const std::string &  className) [inline, static, inherited]

Just like createSensor, but returning a smart pointer to the newly created sensor object.

Definition at line 188 of file CGenericSensor.h.

void mrpt::hwdrivers::CGPSInterface::doProcess ( ) [virtual]

This method should be called periodically (at least at 1Hz to capture ALL the real-time data) It is thread safe, i.e.

you can call this from one thread, then to other methods from other threads. This method processes data from the GPS and update the object state accordingly.

Implements mrpt::hwdrivers::CGenericSensor.

unsigned int mrpt::hwdrivers::CGenericSensor::getExternalImageJPEGQuality ( ) const [inline, inherited]

Definition at line 241 of file CGenericSensor.h.

void mrpt::hwdrivers::CGPSInterface::getNextToken ( const std::string &  str,
std::string &  token,
unsigned int &  parserPos 
) [private]

Tokenize a string "str" into commas separated tokens.

void mrpt::hwdrivers::CGenericSensor::getObservations ( TListObservations &  lstObjects) [inherited]

Returns a list of enqueued objects, emptying it (thread-safe).

The objects must be freed by the invoker.

double mrpt::hwdrivers::CGenericSensor::getProcessRate ( ) const [inline, inherited]

Definition at line 100 of file CGenericSensor.h.

virtual const mrpt::hwdrivers::TSensorClassId* mrpt::hwdrivers::CGenericSensor::GetRuntimeClass ( ) const [pure virtual, inherited]
std::string mrpt::hwdrivers::CGenericSensor::getSensorLabel ( ) const [inline, inherited]

Definition at line 102 of file CGenericSensor.h.

std::string mrpt::hwdrivers::CGPSInterface::getSerialPortName ( ) const

Get the serial port to use (COM1, ttyUSB0, etc).

TSensorState mrpt::hwdrivers::CGenericSensor::getState ( ) const [inline, inherited]

The current state of the sensor.

Definition at line 98 of file CGenericSensor.h.

virtual void mrpt::hwdrivers::CGenericSensor::initialize ( ) [inline, virtual, inherited]

This method can or cannot be implemented in the derived class, depending on the need for it.

Exceptions:
Thismethod must throw an exception with a descriptive message if some critical error is found.

Reimplemented in mrpt::hwdrivers::CKinect, mrpt::hwdrivers::CCameraSensor, mrpt::hwdrivers::CSickLaserSerial, mrpt::hwdrivers::CPtuHokuyo, mrpt::hwdrivers::CHokuyoURG, mrpt::hwdrivers::CBoardENoses, mrpt::hwdrivers::CGyroKVHDSP3000, mrpt::hwdrivers::CLMS100Eth, mrpt::hwdrivers::CBoardDLMS, mrpt::hwdrivers::CSwissRanger3DCamera, mrpt::hwdrivers::CIMUXSens, mrpt::hwdrivers::CPhidgetInterfaceKitProximitySensors, mrpt::hwdrivers::CNTRIPEmitter, mrpt::hwdrivers::CActivMediaRobotBase, and mrpt::hwdrivers::CIbeoLuxETH.

Definition at line 209 of file CGenericSensor.h.

bool mrpt::hwdrivers::CGPSInterface::isAIMConfigured ( ) [inline]

Definition at line 116 of file CGPSInterface.h.

bool mrpt::hwdrivers::CGPSInterface::isGPS_connected ( )

Returns true if communications work.

bool mrpt::hwdrivers::CGPSInterface::isGPS_signalAcquired ( )

Returns true if the last message from the GPS indicates that the signal from sats has been acquired.

void mrpt::hwdrivers::CGPSInterface::JAVAD_sendMessage ( const char *  str,
bool  waitForAnswer = true 
) [private]

Private auxiliary method. Raises exception on error.

void mrpt::hwdrivers::CGenericSensor::loadConfig ( const mrpt::utils::CConfigFileBase &  configSource,
const std::string &  section 
) [inherited]

Loads the generic settings common to any sensor (See CGenericSensor), then call to "loadConfig_sensorSpecific"

Exceptions:
Thismethod throws an exception with a descriptive message if some critical parameter is missing or has an invalid value.

void mrpt::hwdrivers::CGPSInterface::loadConfig_sensorSpecific ( const mrpt::utils::CConfigFileBase &  configSource,
const std::string &  iniSection 
) [protected, virtual]

Loads specific configuration for the device from a given source of configuration parameters, for example, an ".ini" file, loading from the section "[iniSection]" (see utils::CConfigFileBase and derived classes) See hwdrivers::CGPSInterface for the possible parameters.

Implements mrpt::hwdrivers::CGenericSensor.

bool mrpt::hwdrivers::CGPSInterface::OnConnectionEstablished ( ) [protected]

Implements custom messages to be sent to the GPS unit just after connection and before normal use.

Returns false or raise an exception if something goes wrong.

static void mrpt::utils::CDebugOutputCapable::printf_debug ( const char *  frmt,
  ... 
) [static, inherited]

Sends a formated text to "debugOut" if not NULL, or to cout otherwise.

Referenced by mrpt::math::CLevenbergMarquardtTempl::execute().

void mrpt::hwdrivers::CGPSInterface::processBuffer ( ) [private]

Process data in "m_buffer" to extract GPS messages, and remove them from the buffer.

void mrpt::hwdrivers::CGPSInterface::processGPSstring ( const std::string &  s) [private]

Process a complete string from the GPS:

static void mrpt::hwdrivers::CGenericSensor::registerClass ( const TSensorClassId *  pNewClass) [static, inherited]

Register a class into the internal list of "CGenericSensor" descendents.

Used internally in the macros DEFINE_GENERIC_SENSOR, etc...

Can be used as "CGenericSensor::registerClass( SENSOR_CLASS_ID(CMySensor) );" if building custom sensors outside mrpt libraries in user code.

void mrpt::hwdrivers::CGenericSensor::setExternalImageFormat ( const std::string &  ext) [inline, inherited]

Set the extension ("jpg","gif","png",...) that determines the format of images saved externally The default is "jpg".

See also:
setPathForExternalImages, setExternalImageJPEGQuality

Definition at line 233 of file CGenericSensor.h.

void mrpt::hwdrivers::CGenericSensor::setExternalImageJPEGQuality ( const unsigned int  quality) [inline, inherited]

The quality of JPEG compression, when external images is enabled and the format is "jpg".

See also:
setExternalImageFormat

Definition at line 238 of file CGenericSensor.h.

void mrpt::hwdrivers::CGPSInterface::setExternCOM ( CSerialPort *  outPort,
mrpt::synch::CCriticalSection *  csOutPort 
) [inline]

Definition at line 113 of file CGPSInterface.h.

bool mrpt::hwdrivers::CGPSInterface::setJAVAD_AIM_mode ( ) [protected]

Set Advanced Input Mode for the primary port.

This can be used to send RTK corrections to the device using the same port that it's used for the commands. The RTK correction stream must be re-packaged into a special frame with prefix ">>"

void mrpt::hwdrivers::CGPSInterface::setJAVAD_rtk_format ( const std::string &  s) [inline, protected]

Only used when "m_JAVAD_rtk_src_port" is not empty: format of RTK corrections: "cmr", "rtcm", "rtcm3", etc.

Definition at line 149 of file CGPSInterface.h.

void mrpt::hwdrivers::CGPSInterface::setJAVAD_rtk_src_baud ( unsigned int  baud) [inline, protected]

Only used when "m_JAVAD_rtk_src_port" is not empty.

Definition at line 146 of file CGPSInterface.h.

void mrpt::hwdrivers::CGPSInterface::setJAVAD_rtk_src_port ( const std::string &  s) [inline, protected]

If not empty, will send a cmd "set,/par/pos/pd/port,...".

Example value: "/dev/ser/b"

Definition at line 143 of file CGPSInterface.h.

virtual void mrpt::hwdrivers::CGenericSensor::setPathForExternalImages ( const std::string &  directory) [inline, virtual, inherited]

Set the path where to save off-rawlog image files (will be ignored in those sensors where this is not applicable).

An empty string (the default value at construction) means to save images embedded in the rawlog, instead of on separate files.

Exceptions:
std::exceptionIf the directory doesn't exists and cannot be created.

Reimplemented in mrpt::hwdrivers::CKinect, mrpt::hwdrivers::CCameraSensor, and mrpt::hwdrivers::CSwissRanger3DCamera.

Definition at line 225 of file CGenericSensor.h.

void mrpt::hwdrivers::CGenericSensor::setSensorLabel ( const std::string &  sensorLabel) [inline, inherited]

Definition at line 103 of file CGenericSensor.h.

void mrpt::hwdrivers::CGPSInterface::setSerialPortName ( const std::string &  COM_port)

Set the serial port to use (COM1, ttyUSB0, etc).

bool mrpt::hwdrivers::CGPSInterface::tryToOpenTheCOM ( ) [private]

Returns true if the COM port is already open, or try to open it in other case.

Returns:
true if everything goes OK, or false if there are problems opening the port.
bool mrpt::hwdrivers::CGPSInterface::unsetJAVAD_AIM_mode ( ) [protected]

Unset Advanced Input Mode for the primary port and use it only as a command port.

bool mrpt::hwdrivers::CGPSInterface::useExternCOM ( ) [inline, protected]

Definition at line 160 of file CGPSInterface.h.

Member Data Documentation

bool mrpt::hwdrivers::CGPSInterface::m_AIMConfigured [private]

Indicates if the AIM has been properly set up.

Definition at line 184 of file CGPSInterface.h.

char* mrpt::hwdrivers::CGPSInterface::m_buffer [private]

Definition at line 170 of file CGPSInterface.h.

int mrpt::hwdrivers::CGPSInterface::m_BUFFER_LENGTH [private]

Definition at line 168 of file CGPSInterface.h.

size_t mrpt::hwdrivers::CGPSInterface::m_bufferLength [private]

Definition at line 171 of file CGPSInterface.h.

size_t mrpt::hwdrivers::CGPSInterface::m_bufferWritePos [private]

Definition at line 172 of file CGPSInterface.h.

CSerialPort mrpt::hwdrivers::CGPSInterface::m_COM [protected]

Definition at line 124 of file CGPSInterface.h.

int mrpt::hwdrivers::CGPSInterface::m_COMbauds [private]

Definition at line 165 of file CGPSInterface.h.

std::string mrpt::hwdrivers::CGPSInterface::m_COMname [private]

Definition at line 164 of file CGPSInterface.h.

mrpt::synch::CCriticalSection* mrpt::hwdrivers::CGPSInterface::m_cs_out_COM [protected]

Definition at line 128 of file CGPSInterface.h.

std::string mrpt::hwdrivers::CGPSInterface::m_customInit [protected]

Definition at line 133 of file CGPSInterface.h.

double mrpt::hwdrivers::CGPSInterface::m_data_period [private]

The period in seconds which the data should be provided by the GPS.

Definition at line 185 of file CGPSInterface.h.

std::string mrpt::hwdrivers::CGenericSensor::m_external_images_format [protected, inherited]

The extension ("jpg","gif","png",...) that determines the format of images saved externally.

See also:
setPathForExternalImages

Definition at line 139 of file CGenericSensor.h.

unsigned int mrpt::hwdrivers::CGenericSensor::m_external_images_jpeg_quality [protected, inherited]

For JPEG images, the quality (default=95%).

Definition at line 140 of file CGenericSensor.h.

bool mrpt::hwdrivers::CGPSInterface::m_GPS_comsWork [private]

Definition at line 166 of file CGPSInterface.h.

bool mrpt::hwdrivers::CGPSInterface::m_GPS_signalAcquired [private]

Definition at line 167 of file CGPSInterface.h.

size_t mrpt::hwdrivers::CGenericSensor::m_grab_decimation [protected, inherited]

If set to N>=2, only 1 out of N observations will be saved to m_objList.

Definition at line 127 of file CGenericSensor.h.

size_t mrpt::hwdrivers::CGenericSensor::m_grab_decimation_counter [protected, inherited]

Used when "m_grab_decimation" is enabled.

Definition at line 132 of file CGenericSensor.h.

std::string mrpt::hwdrivers::CGPSInterface::m_JAVAD_rtk_format [private]

Only used when "m_JAVAD_rtk_src_port" is not empty: format of RTK corrections: "cmr", "rtcm", "rtcm3", etc.

Definition at line 176 of file CGPSInterface.h.

unsigned int mrpt::hwdrivers::CGPSInterface::m_JAVAD_rtk_src_baud [private]

Only used when "m_JAVAD_rtk_src_port" is not empty.

Definition at line 175 of file CGPSInterface.h.

std::string mrpt::hwdrivers::CGPSInterface::m_JAVAD_rtk_src_port [private]

If not empty, will send a cmd "set,/par/pos/pd/port,...". Example value: "/dev/ser/b".

Definition at line 174 of file CGPSInterface.h.

TTimeStamp mrpt::hwdrivers::CGPSInterface::m_last_timestamp [private]

Definition at line 181 of file CGPSInterface.h.

mrpt::slam::CObservationGPS::TUTCTime mrpt::hwdrivers::CGPSInterface::m_last_UTC_time [private]

Definition at line 211 of file CGPSInterface.h.

mrpt::slam::CObservationGPS mrpt::hwdrivers::CGPSInterface::m_latestGPS_data [private]

Definition at line 210 of file CGPSInterface.h.

size_t mrpt::hwdrivers::CGenericSensor::m_max_queue_len [protected, inherited]

See CGenericSensor.

Definition at line 126 of file CGenericSensor.h.

CSerialPort* mrpt::hwdrivers::CGPSInterface::m_out_COM [protected]

Definition at line 127 of file CGPSInterface.h.

std::string mrpt::hwdrivers::CGenericSensor::m_path_for_external_images [protected, inherited]

The path where to save off-rawlog images: empty means save images embedded in the rawlog.

Definition at line 138 of file CGenericSensor.h.

double mrpt::hwdrivers::CGenericSensor::m_process_rate [protected, inherited]

See CGenericSensor.

Definition at line 125 of file CGenericSensor.h.

std::string mrpt::hwdrivers::CGenericSensor::m_sensorLabel [protected, inherited]

See CGenericSensor.

Definition at line 128 of file CGenericSensor.h.

poses::CPoint3D mrpt::hwdrivers::CGPSInterface::m_sensorPose [protected]

Definition at line 131 of file CGPSInterface.h.

TSensorState mrpt::hwdrivers::CGenericSensor::m_state [protected, inherited]

Definition at line 134 of file CGenericSensor.h.

bool mrpt::hwdrivers::CGPSInterface::m_useAIMMode [private]

Use this mode for receive RTK corrections from a external source through the primary port.

Definition at line 179 of file CGPSInterface.h.



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