mrpt::slam::CObservationGPS::TGPSDatum_PZS Struct Reference

Detailed Description

The GPS datum for TopCon's mmGPS devices.

Definition at line 203 of file CObservationGPS.h.

#include <mrpt/slam/CObservationGPS.h>

Public Member Functions
	TGPSDatum_PZS ()
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
double	latitude_degrees
	The measured latitude, in degrees (North:+ , South:-)
double	longitude_degrees
	The measured longitude, in degrees (East:+ , West:-)
double	height_meters
	ellipsoidal height from N-beam [m] perhaps weighted with regular gps
double	RTK_height_meters
	ellipsoidal height [m] without N-beam correction
float	PSigma
	position SEP [m]
double	angle_transmitter
	Vertical angle of N-beam.
uint8_t	nId
	ID of the transmitter [1-4], 0 if none.
uint8_t	Fix
	1: GPS, 2: mmGPS
uint8_t	TXBattery
	battery level on transmitter
uint8_t	RXBattery
	battery level on receiver
uint8_t	error
bool	hasCartesianPosVel
	system error indicator
double	cartesian_x
double	cartesian_y
double	cartesian_z
	Only if hasCartesianPosVel is true.
double	cartesian_vx
double	cartesian_vy
double	cartesian_vz
	Only if hasCartesianPosVel is true.
bool	hasPosCov
mrpt::math::CMatrixFloat44	pos_covariance
	Only if hasPosCov is true.
bool	hasVelCov
mrpt::math::CMatrixFloat44	vel_covariance
	Only if hasPosCov is true.
bool	hasStats
uint8_t	stats_GPS_sats_used
uint8_t	stats_GLONASS_sats_used
uint8_t	stats_rtk_fix_progress
	[0,100] %, only in modes other than RTK FIXED.

Constructor & Destructor Documentation

mrpt::slam::CObservationGPS::TGPSDatum_PZS::TGPSDatum_PZS

(

)

Member Function Documentation

template<class TGEODETICCOORDS >

TGEODETICCOORDS mrpt::slam::CObservationGPS::TGPSDatum_PZS::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 211 of file CObservationGPS.h.

Member Data Documentation

double mrpt::slam::CObservationGPS::TGPSDatum_PZS::angle_transmitter

Vertical angle of N-beam.

Definition at line 220 of file CObservationGPS.h.

double mrpt::slam::CObservationGPS::TGPSDatum_PZS::cartesian_vx

Definition at line 229 of file CObservationGPS.h.

double mrpt::slam::CObservationGPS::TGPSDatum_PZS::cartesian_vy

Definition at line 229 of file CObservationGPS.h.

double mrpt::slam::CObservationGPS::TGPSDatum_PZS::cartesian_vz

Only if hasCartesianPosVel is true.

Definition at line 229 of file CObservationGPS.h.

double mrpt::slam::CObservationGPS::TGPSDatum_PZS::cartesian_x

Definition at line 228 of file CObservationGPS.h.

double mrpt::slam::CObservationGPS::TGPSDatum_PZS::cartesian_y

Definition at line 228 of file CObservationGPS.h.

double mrpt::slam::CObservationGPS::TGPSDatum_PZS::cartesian_z

Only if hasCartesianPosVel is true.

Definition at line 228 of file CObservationGPS.h.

uint8_t mrpt::slam::CObservationGPS::TGPSDatum_PZS::error

Definition at line 225 of file CObservationGPS.h.

uint8_t mrpt::slam::CObservationGPS::TGPSDatum_PZS::Fix

1: GPS, 2: mmGPS

Definition at line 222 of file CObservationGPS.h.

bool mrpt::slam::CObservationGPS::TGPSDatum_PZS::hasCartesianPosVel

system error indicator

Definition at line 227 of file CObservationGPS.h.

bool mrpt::slam::CObservationGPS::TGPSDatum_PZS::hasPosCov

Definition at line 231 of file CObservationGPS.h.

bool mrpt::slam::CObservationGPS::TGPSDatum_PZS::hasStats

Definition at line 237 of file CObservationGPS.h.

bool mrpt::slam::CObservationGPS::TGPSDatum_PZS::hasVelCov

Definition at line 234 of file CObservationGPS.h.

double mrpt::slam::CObservationGPS::TGPSDatum_PZS::height_meters

ellipsoidal height from N-beam [m] perhaps weighted with regular gps

Definition at line 217 of file CObservationGPS.h.

double mrpt::slam::CObservationGPS::TGPSDatum_PZS::latitude_degrees

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

Definition at line 215 of file CObservationGPS.h.

double mrpt::slam::CObservationGPS::TGPSDatum_PZS::longitude_degrees

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

Definition at line 216 of file CObservationGPS.h.

uint8_t mrpt::slam::CObservationGPS::TGPSDatum_PZS::nId

ID of the transmitter [1-4], 0 if none.

Definition at line 221 of file CObservationGPS.h.

mrpt::math::CMatrixFloat44 mrpt::slam::CObservationGPS::TGPSDatum_PZS::pos_covariance

Only if hasPosCov is true.

Definition at line 232 of file CObservationGPS.h.

float mrpt::slam::CObservationGPS::TGPSDatum_PZS::PSigma

position SEP [m]

Definition at line 219 of file CObservationGPS.h.

double mrpt::slam::CObservationGPS::TGPSDatum_PZS::RTK_height_meters

ellipsoidal height [m] without N-beam correction

Definition at line 218 of file CObservationGPS.h.

uint8_t mrpt::slam::CObservationGPS::TGPSDatum_PZS::RXBattery

battery level on receiver

Definition at line 224 of file CObservationGPS.h.

uint8_t mrpt::slam::CObservationGPS::TGPSDatum_PZS::stats_GLONASS_sats_used

Definition at line 238 of file CObservationGPS.h.

uint8_t mrpt::slam::CObservationGPS::TGPSDatum_PZS::stats_GPS_sats_used

Definition at line 238 of file CObservationGPS.h.

uint8_t mrpt::slam::CObservationGPS::TGPSDatum_PZS::stats_rtk_fix_progress

[0,100] %, only in modes other than RTK FIXED.

Definition at line 239 of file CObservationGPS.h.

uint8_t mrpt::slam::CObservationGPS::TGPSDatum_PZS::TXBattery

battery level on transmitter

Definition at line 223 of file CObservationGPS.h.

mrpt::math::CMatrixFloat44 mrpt::slam::CObservationGPS::TGPSDatum_PZS::vel_covariance

Only if hasPosCov is true.

Definition at line 235 of file CObservationGPS.h.