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

customInit: Custom commands to send, depending on the sensor. Valid values are:
- "": Empty string
- "JAVAD": JAVAD or TopCon devices. Extra initialization commands will be sent.
- "TopCon": A synonymous with "JAVAD".
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).

Definition at line 78 of file CGPSInterface.h.

#include <mrpt/hwdrivers/CGPSInterface.h>

Inheritance diagram for mrpt::hwdrivers::CGPSInterface:

[legend]

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

This	method 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_LENGTH The 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 )

inlineprotectedinherited

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 )

protectedinherited

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 )

staticinherited

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 )

inlinestaticinherited

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

inlineinherited

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

inlineinherited

Definition at line 100 of file CGenericSensor.h.

virtual const mrpt::hwdrivers::TSensorClassId* mrpt::hwdrivers::CGenericSensor::GetRuntimeClass ( ) const

pure virtualinherited

std::string mrpt::hwdrivers::CGenericSensor::getSensorLabel ( ) const

inlineinherited

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

inlineinherited

The current state of the sensor.

Definition at line 98 of file CGenericSensor.h.

virtual void mrpt::hwdrivers::CGenericSensor::initialize ( )

inlinevirtualinherited

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

Exceptions

This	method 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::CImpinjRFID, 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

This	method 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
	)

protectedvirtual

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,
			...
	)

staticinherited

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

Referenced by mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::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 )

staticinherited

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.

Referenced by mrpt::hwdrivers::CGenericSensor::CLASSINIT_GENERIC_SENSOR::CLASSINIT_GENERIC_SENSOR().

void mrpt::hwdrivers::CGenericSensor::setExternalImageFormat ( const std::string & ext )

inlineinherited

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 )

inlineinherited

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 )

inlineprotected

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 )

inlineprotected

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 )

inlineprotected

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 )

inlinevirtualinherited

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::exception If 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 )

inlineinherited

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 ( )

inlineprotected

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

protectedinherited

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

protectedinherited

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

protectedinherited

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

protectedinherited

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

protectedinherited

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

protectedinherited

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

protectedinherited

See CGenericSensor.

Definition at line 125 of file CGenericSensor.h.

std::string mrpt::hwdrivers::CGenericSensor::m_sensorLabel

protectedinherited

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

protectedinherited

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.

Detailed Description

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Member Typedef Documentation

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation