Detailed Description

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

See Also: CObservation

Definition at line 49 of file CObservationGPS.h.

#include <mrpt/slam/CObservationGPS.h>

Inheritance diagram for mrpt::slam::CObservationGPS:

Classes
struct	TGPSDatum_GGA
	The GPS datum for GGA commands. More...

struct	TGPSDatum_PZS
	The GPS datum for TopCon's mmGPS devices. More...

struct	TGPSDatum_RMC
	The GPS datum for RMC commands. More...

struct	TGPSDatum_SATS
	A generic structure for statistics about tracked satelites and their positions. More...

struct	TUTCTime
	A UTC time-stamp structure for GPS messages. More...

Public Member Functions
	CObservationGPS ()
	Constructor.

void	dumpToStream (CStream &out)
	Dumps the contents of the observation in a human-readable form to a given output stream.

void	dumpToConsole ()
	Dumps the contents of the observation in a human-readable form to the console.

void	getSensorPose (CPose3D &out_sensorPose) const
	A general method to retrieve the sensor pose on the robot.

void	setSensorPose (const CPose3D &newSensorPose)
	A general method to change the sensor pose on the robot.

template<class METRICMAP >
bool	insertObservationInto (METRICMAP theMap, const CPose3D robotPose=NULL) const
	This method is equivalent to:

void	getSensorPose (mrpt::math::TPose3D &out_sensorPose) const
	A general method to retrieve the sensor pose on the robot.

void	setSensorPose (const mrpt::math::TPose3D &newSensorPose)
	A general method to change the sensor pose on the robot.

mrpt::utils::CObjectPtr	duplicateGetSmartPtr () const
	Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer).

CObject *	clone () const
	Cloning interface for smart pointers.

Delayed-load manual control methods.
virtual void	load () const
	Makes sure all images and other fields which may be externally stored are loaded in memory.

virtual void	unload ()
	Unload all images, for the case they being delayed-load images stored in external files (othewise, has no effect).

Public Attributes
CPose3D	sensorPose
	The sensor pose on the robot.

bool	has_GGA_datum
	Will be true if the corresponding field contains data read from the sensor, or false if it is not available.

bool	has_RMC_datum
	Will be true if the corresponding field contains data read from the sensor, or false if it is not available.

bool	has_PZS_datum
	Will be true if the corresponding field contains data read from the sensor, or false if it is not available.

bool	has_SATS_datum
	Will be true if the corresponding field contains data read from the sensor, or false if it is not available.

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

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

TGPSDatum_PZS	PZS_datum
	If "has_PZS_datum" is true, this contains the read PZS datum (TopCon's mmGPS devices only)

TGPSDatum_SATS	SATS_datum
	If "has_SATS_datum" is true, this contains the read PZS datum (TopCon's mmGPS devices only)

Data common to any observation
mrpt::system::TTimeStamp	timestamp
	The associated time-stamp.

std::string	sensorLabel
	An arbitrary label that can be used to identify the sensor.

Static Public Attributes
static const mrpt::utils::TRuntimeClassId	classCObject

RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCObservation

RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCSerializable

Protected Member Functions
void	swap (CObservation &o)
	Swap with another observation, ONLY the data defined here in the base class CObservation. It's protected since it'll be only called from child classes that should know what else to swap appart from these common data.

CSerializable virtual methods
void	writeToStream (mrpt::utils::CStream &out, int *getVersion) const
	Introduces a pure virtual method responsible for writing to a CStream.

void	readFromStream (mrpt::utils::CStream &in, int version)
	Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.

RTTI stuff
typedef CObservationGPSPtr	SmartPtr

static mrpt::utils::CLASSINIT	_init_CObservationGPS

static mrpt::utils::TRuntimeClassId	classCObservationGPS

static const mrpt::utils::TRuntimeClassId *	classinfo

static const mrpt::utils::TRuntimeClassId *	_GetBaseClass ()

virtual const mrpt::utils::TRuntimeClassId *	GetRuntimeClass () const
	Returns information about the class of an object in runtime.

virtual mrpt::utils::CObject *	duplicate () const
	Returns a copy of the object, indepently of its class.

static mrpt::utils::CObject *	CreateObject ()

static CObservationGPSPtr	Create ()

Member Typedef Documentation

typedef CObservationGPSPtr mrpt::slam::CObservationGPS::SmartPtr

A typedef for the associated smart pointer

Definition at line 52 of file CObservationGPS.h.

Constructor & Destructor Documentation

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

Constructor.

Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::slam::CObservationGPS::_GetBaseClass ( )

staticprotected

CObject* mrpt::utils::CObject::clone ( ) const

inlineinherited

Cloning interface for smart pointers.

Definition at line 154 of file CObject.h.

static CObservationGPSPtr mrpt::slam::CObservationGPS::Create ( )

static

static mrpt::utils::CObject* mrpt::slam::CObservationGPS::CreateObject ( )

static

void mrpt::slam::CObservationGPS::dumpToConsole ( )

Dumps the contents of the observation in a human-readable form to the console.

void mrpt::slam::CObservationGPS::dumpToStream ( CStream & out )

Dumps the contents of the observation in a human-readable form to a given output stream.

virtual mrpt::utils::CObject* mrpt::slam::CObservationGPS::duplicate ( ) const

virtual

Returns a copy of the object, indepently of its class.

Implements mrpt::utils::CObject.

mrpt::utils::CObjectPtr mrpt::utils::CObject::duplicateGetSmartPtr ( ) const

inlineinherited

Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer).

Definition at line 151 of file CObject.h.

virtual const mrpt::utils::TRuntimeClassId* mrpt::slam::CObservationGPS::GetRuntimeClass ( ) const

virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::slam::CObservation.

void mrpt::slam::CObservation::getSensorPose ( mrpt::math::TPose3D & out_sensorPose ) const

inherited

A general method to retrieve the sensor pose on the robot.

Note that most sensors will return a full (6D) CPose3D, but see the derived classes for more details or special cases.

See Also: setSensorPose

void mrpt::slam::CObservationGPS::getSensorPose ( CPose3D & out_sensorPose ) const

inlinevirtual

A general method to retrieve the sensor pose on the robot.

Note that most sensors will return a full (6D) CPose3D, but see the derived classes for more details or special cases.

See Also: setSensorPose

Implements mrpt::slam::CObservation.

Definition at line 284 of file CObservationGPS.h.

template<class METRICMAP >

bool mrpt::slam::CObservation::insertObservationInto	(	METRICMAP *	theMap,
		const CPose3D *	robotPose = `NULL`
	)		const

inlineinherited

This method is equivalent to:

map->insertObservation(this, robotPose)

Parameters

theMap	The map where this observation is to be inserted: the map will be updated.
robotPose	The pose of the robot base for this observation, relative to the target metric map. Set to NULL (default) to use (0,0,0deg)

Returns: Returns true if the map has been updated, or false if this observations has nothing to do with a metric map (for example, a sound observation).

See Also: CMetricMap, CMetricMap::insertObservation

Definition at line 122 of file CObservation.h.

virtual void mrpt::slam::CObservation::load ( ) const

inlinevirtualinherited

Makes sure all images and other fields which may be externally stored are loaded in memory.

Note that for all CImages, calling load() is not required since the images will be automatically loaded upon first access, so load() shouldn't be needed to be called in normal cases by the user. If all the data were alredy loaded or this object has no externally stored data fields, calling this method has no effects.

See Also: unload

Reimplemented in mrpt::slam::CObservation3DRangeScan.

Definition at line 159 of file CObservation.h.

void mrpt::slam::CObservationGPS::readFromStream	(	mrpt::utils::CStream &	in,
		int	version
	)

protectedvirtual

Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.

Parameters

in	The input binary stream where the object data must read from.
version	The version of the object stored in the stream: use this version number in your code to know how to read the incoming data.

Exceptions

std::exception On any error, see CStream::ReadBuffer

See Also: CStream

Implements mrpt::utils::CSerializable.

void mrpt::slam::CObservation::setSensorPose ( const mrpt::math::TPose3D & newSensorPose )

inherited

A general method to change the sensor pose on the robot.

Note that most sensors will use the full (6D) CPose3D, but see the derived classes for more details or special cases.

See Also: getSensorPose

void mrpt::slam::CObservationGPS::setSensorPose ( const CPose3D & newSensorPose )

inlinevirtual

A general method to change the sensor pose on the robot.

Note that most sensors will use the full (6D) CPose3D, but see the derived classes for more details or special cases.

See Also: getSensorPose

Implements mrpt::slam::CObservation.

Definition at line 291 of file CObservationGPS.h.

void mrpt::slam::CObservation::swap ( CObservation & o )

protectedinherited

Swap with another observation, ONLY the data defined here in the base class CObservation. It's protected since it'll be only called from child classes that should know what else to swap appart from these common data.

virtual void mrpt::slam::CObservation::unload ( )

inlinevirtualinherited

Unload all images, for the case they being delayed-load images stored in external files (othewise, has no effect).

See Also: load

Reimplemented in mrpt::slam::CObservation3DRangeScan.

Definition at line 163 of file CObservation.h.

void mrpt::slam::CObservationGPS::writeToStream	(	mrpt::utils::CStream &	out,
		int *	getVersion
	)		const

protectedvirtual

Introduces a pure virtual method responsible for writing to a CStream.

This can not be used directly be users, instead use "stream << object;" for writing it to a stream.

Parameters

out	The output binary stream where object must be dumped.
getVersion	If NULL, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data.

Exceptions

std::exception On any error, see CStream::WriteBuffer

See Also: CStream

Implements mrpt::utils::CSerializable.

Member Data Documentation

mrpt::utils::CLASSINIT mrpt::slam::CObservationGPS::_init_CObservationGPS

staticprotected

Definition at line 52 of file CObservationGPS.h.

const mrpt::utils::TRuntimeClassId mrpt::utils::CObject::classCObject

staticinherited

Definition at line 139 of file CObject.h.

const mrpt::utils::TRuntimeClassId mrpt::slam::CObservation::classCObservation

staticinherited

Definition at line 84 of file CObservation.h.

mrpt::utils::TRuntimeClassId mrpt::slam::CObservationGPS::classCObservationGPS

static

Definition at line 52 of file CObservationGPS.h.

const mrpt::utils::TRuntimeClassId mrpt::utils::CSerializable::classCSerializable

staticinherited

Definition at line 56 of file CSerializable.h.

const mrpt::utils::TRuntimeClassId* mrpt::slam::CObservationGPS::classinfo

static

Definition at line 52 of file CObservationGPS.h.

TGPSDatum_GGA mrpt::slam::CObservationGPS::GGA_datum

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

Definition at line 275 of file CObservationGPS.h.

bool mrpt::slam::CObservationGPS::has_GGA_datum

Will be true if the corresponding field contains data read from the sensor, or false if it is not available.

See Also: GGA_datum

Definition at line 258 of file CObservationGPS.h.

bool mrpt::slam::CObservationGPS::has_PZS_datum

Will be true if the corresponding field contains data read from the sensor, or false if it is not available.

See Also: PZS_datum

Definition at line 268 of file CObservationGPS.h.

bool mrpt::slam::CObservationGPS::has_RMC_datum

Will be true if the corresponding field contains data read from the sensor, or false if it is not available.

See Also: RMC_datum

Definition at line 263 of file CObservationGPS.h.

bool mrpt::slam::CObservationGPS::has_SATS_datum

Will be true if the corresponding field contains data read from the sensor, or false if it is not available.

See Also: SATS_datum

Definition at line 273 of file CObservationGPS.h.

TGPSDatum_PZS mrpt::slam::CObservationGPS::PZS_datum

If "has_PZS_datum" is true, this contains the read PZS datum (TopCon's mmGPS devices only)

Definition at line 277 of file CObservationGPS.h.

TGPSDatum_RMC mrpt::slam::CObservationGPS::RMC_datum

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

Definition at line 276 of file CObservationGPS.h.

TGPSDatum_SATS mrpt::slam::CObservationGPS::SATS_datum

If "has_SATS_datum" is true, this contains the read PZS datum (TopCon's mmGPS devices only)

Definition at line 278 of file CObservationGPS.h.

std::string mrpt::slam::CObservation::sensorLabel

inherited

An arbitrary label that can be used to identify the sensor.

Definition at line 100 of file CObservation.h.

CPose3D mrpt::slam::CObservationGPS::sensorPose

The sensor pose on the robot.

Definition at line 70 of file CObservationGPS.h.

mrpt::system::TTimeStamp mrpt::slam::CObservation::timestamp

inherited

The associated time-stamp.

Definition at line 96 of file CObservation.h.

Detailed Description

Classes

Public Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions

RTTI stuff

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation