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mrpt::obs::CObservationGPS Class Reference

Detailed Description

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

See also
CObservation

Definition at line 28 of file obs/CObservationGPS.h.

#include <mrpt/obs/CObservationGPS.h>

Inheritance diagram for mrpt::obs::CObservationGPS:
Inheritance graph

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

void * operator new (size_t size)
 
void * operator new[] (size_t size)
 
void operator delete (void *ptr) throw ()
 
void operator delete[] (void *ptr) throw ()
 
void operator delete (void *memory, void *ptr) throw ()
 
void * operator new (size_t size, const std::nothrow_t &) throw ()
 
void operator delete (void *ptr, const std::nothrow_t &) throw ()
 
 CObservationGPS ()
 ctor More...
 
void dumpToStream (mrpt::utils::CStream &out) const
 Dumps the contents of the observation in a human-readable form to a given output stream. More...
 
void dumpToConsole (std::ostream &o=std::cout) const
 Dumps the contents of the observation in a human-readable form to the console. More...
 
void clear ()
 Empties this observation, setting all "has_*_datum" to "false". More...
 
void getSensorPose (mrpt::poses::CPose3D &out_sensorPose) const
 A general method to retrieve the sensor pose on the robot. More...
 
void setSensorPose (const mrpt::poses::CPose3D &newSensorPose)
 A general method to change the sensor pose on the robot. More...
 
virtual void getDescriptionAsText (std::ostream &o) const
 Build a detailed, multi-line textual description of the observation contents and dump it to the output stream. More...
 
template<class METRICMAP >
bool insertObservationInto (METRICMAP *theMap, const mrpt::poses::CPose3D *robotPose=NULL) const
 This method is equivalent to: More...
 
void getSensorPose (mrpt::math::TPose3D &out_sensorPose) const
 A general method to retrieve the sensor pose on the robot. More...
 
void setSensorPose (const mrpt::math::TPose3D &newSensorPose)
 A general method to change the sensor pose on the robot. More...
 
virtual mxArraywriteToMatlab () const
 Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class. More...
 
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). More...
 
CObject * clone () const
 Cloning interface for smart pointers. More...
 
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. More...
 
virtual void unload ()
 Unload all images, for the case they being delayed-load images stored in external files (othewise, has no effect). More...
 

Static Public Member Functions

static void * operator new (size_t size, void *ptr)
 

Public Attributes

mrpt::poses::CPose3D sensorPose
 The sensor pose on the robot. More...
 
bool has_GGA_datum
 Will be true if the corresponding field contains data read from the sensor, or false if it is not available. More...
 
bool has_RMC_datum
 Will be true if the corresponding field contains data read from the sensor, or false if it is not available. More...
 
bool has_PZS_datum
 Will be true if the corresponding field contains data read from the sensor, or false if it is not available. More...
 
bool has_SATS_datum
 Will be true if the corresponding field contains data read from the sensor, or false if it is not available. More...
 
TGPSDatum_GGA GGA_datum
 If "has_GGA_datum" is true, this contains the read GGA datum. More...
 
TGPSDatum_RMC RMC_datum
 If "has_RMC_datum" is true, this contains the read RMC datum. More...
 
TGPSDatum_PZS PZS_datum
 If "has_PZS_datum" is true, this contains the read PZS datum (TopCon's mmGPS devices only) More...
 
TGPSDatum_SATS SATS_datum
 If "has_SATS_datum" is true, this contains the read PZS datum (TopCon's mmGPS devices only) More...
 
Data common to any observation
mrpt::system::TTimeStamp timestamp
 The associated time-stamp. More...
 
std::string sensorLabel
 An arbitrary label that can be used to identify the sensor. More...
 

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

RTTI stuff

typedef CObservationGPSPtr SmartPtr
 
static mrpt::utils::CLASSINIT _init_CObservationGPS
 
static mrpt::utils::TRuntimeClassId classCObservationGPS
 
static const mrpt::utils::TRuntimeClassIdclassinfo
 
static const mrpt::utils::TRuntimeClassId_GetBaseClass ()
 
virtual const mrpt::utils::TRuntimeClassIdGetRuntimeClass () const
 Returns information about the class of an object in runtime. More...
 
virtual mrpt::utils::CObjectduplicate () const
 Returns a copy of the object, indepently of its class. More...
 
static mrpt::utils::CObjectCreateObject ()
 
static CObservationGPSPtr Create ()
 

Member Typedef Documentation

§ SmartPtr

typedef CObservationGPSPtr mrpt::obs::CObservationGPS::SmartPtr

A typedef for the associated smart pointer

Definition at line 31 of file obs/CObservationGPS.h.

Constructor & Destructor Documentation

§ CObservationGPS()

mrpt::obs::CObservationGPS::CObservationGPS ( )

ctor

Member Function Documentation

§ _GetBaseClass()

static const mrpt::utils::TRuntimeClassId* mrpt::obs::CObservationGPS::_GetBaseClass ( )
staticprotected

§ clear()

void mrpt::obs::CObservationGPS::clear ( )

Empties this observation, setting all "has_*_datum" to "false".

§ clone()

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

Cloning interface for smart pointers.

Definition at line 139 of file CObject.h.

§ Create()

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

§ CreateObject()

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

§ dumpToConsole()

void mrpt::obs::CObservationGPS::dumpToConsole ( std::ostream &  o = std::cout) const

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

§ dumpToStream()

void mrpt::obs::CObservationGPS::dumpToStream ( mrpt::utils::CStream out) const

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

See also
dumpToConsole(), getDescriptionAsText()

§ duplicate()

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

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

Implements mrpt::utils::CObject.

§ duplicateGetSmartPtr()

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 136 of file CObject.h.

§ getDescriptionAsText()

virtual void mrpt::obs::CObservationGPS::getDescriptionAsText ( std::ostream &  o) const
virtual

Build a detailed, multi-line textual description of the observation contents and dump it to the output stream.

Note
If overried by derived classes, call base CObservation::getDescriptionAsText() first to show common information.
This is the text that appears in RawLogViewer when selecting an object in the dataset

Reimplemented from mrpt::obs::CObservation.

§ GetRuntimeClass()

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

Returns information about the class of an object in runtime.

Reimplemented from mrpt::obs::CObservation.

§ getSensorPose() [1/2]

void mrpt::obs::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

§ getSensorPose() [2/2]

void mrpt::obs::CObservationGPS::getSensorPose ( mrpt::poses::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::obs::CObservation.

Definition at line 261 of file obs/CObservationGPS.h.

§ insertObservationInto()

template<class METRICMAP >
bool mrpt::obs::CObservation::insertObservationInto ( METRICMAP *  theMap,
const mrpt::poses::CPose3D robotPose = NULL 
) const
inlineinherited

This method is equivalent to:

map->insertObservation(this, robotPose)
Parameters
theMapThe map where this observation is to be inserted: the map will be updated.
robotPoseThe 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 91 of file obs/CObservation.h.

§ load()

virtual void mrpt::obs::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::obs::CObservation3DRangeScan.

Definition at line 133 of file obs/CObservation.h.

§ operator delete() [1/3]

void mrpt::obs::CObservationGPS::operator delete ( void *  ptr)
throw (
)
inline

Definition at line 31 of file obs/CObservationGPS.h.

§ operator delete() [2/3]

void mrpt::obs::CObservationGPS::operator delete ( void *  memory,
void *  ptr 
)
throw (
)
inline

Definition at line 31 of file obs/CObservationGPS.h.

§ operator delete() [3/3]

void mrpt::obs::CObservationGPS::operator delete ( void *  ptr,
const std::nothrow_t &   
)
throw (
)
inline

Definition at line 31 of file obs/CObservationGPS.h.

§ operator delete[]()

void mrpt::obs::CObservationGPS::operator delete[] ( void *  ptr)
throw (
)
inline

Definition at line 31 of file obs/CObservationGPS.h.

§ operator new() [1/3]

void* mrpt::obs::CObservationGPS::operator new ( size_t  size)
inline

Definition at line 31 of file obs/CObservationGPS.h.

§ operator new() [2/3]

static void* mrpt::obs::CObservationGPS::operator new ( size_t  size,
void *  ptr 
)
inlinestatic

Definition at line 31 of file obs/CObservationGPS.h.

§ operator new() [3/3]

void* mrpt::obs::CObservationGPS::operator new ( size_t  size,
const std::nothrow_t &   
)
throw (
)
inline

Definition at line 31 of file obs/CObservationGPS.h.

§ operator new[]()

void* mrpt::obs::CObservationGPS::operator new[] ( size_t  size)
inline

Definition at line 31 of file obs/CObservationGPS.h.

§ readFromStream()

void mrpt::obs::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
inThe input binary stream where the object data must read from.
versionThe 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::exceptionOn any error, see CStream::ReadBuffer
See also
CStream

Implements mrpt::utils::CSerializable.

§ setSensorPose() [1/2]

void mrpt::obs::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

§ setSensorPose() [2/2]

void mrpt::obs::CObservationGPS::setSensorPose ( const mrpt::poses::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::obs::CObservation.

Definition at line 263 of file obs/CObservationGPS.h.

References DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE, and OBS_IMPEXP.

§ swap()

void mrpt::obs::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.

§ unload()

virtual void mrpt::obs::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::obs::CObservation3DRangeScan.

Definition at line 137 of file obs/CObservation.h.

References DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE, and OBS_IMPEXP.

§ writeToMatlab()

virtual mxArray* mrpt::utils::CSerializable::writeToMatlab ( ) const
inlinevirtualinherited

Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class.

Returns
A new mxArray (caller is responsible of memory freeing) or NULL is class does not support conversion to MATLAB.

Definition at line 79 of file CSerializable.h.

References BASE_IMPEXP, mrpt::utils::CSerializablePtr, DEFINE_MRPT_OBJECT_POST, mrpt::utils::ObjectToOctetVector(), mrpt::utils::ObjectToRawString(), mrpt::utils::ObjectToString(), mrpt::utils::OctetVectorToObject(), mrpt::utils::RawStringToObject(), and mrpt::utils::StringToObject().

§ writeToStream()

void mrpt::obs::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
outThe output binary stream where object must be dumped.
getVersionIf 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::exceptionOn any error, see CStream::WriteBuffer
See also
CStream

Implements mrpt::utils::CSerializable.

Member Data Documentation

§ _init_CObservationGPS

mrpt::utils::CLASSINIT mrpt::obs::CObservationGPS::_init_CObservationGPS
staticprotected

Definition at line 31 of file obs/CObservationGPS.h.

§ classCObject

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

Definition at line 124 of file CObject.h.

§ classCObservation

const mrpt::utils::TRuntimeClassId mrpt::obs::CObservation::classCObservation
staticinherited

Definition at line 53 of file obs/CObservation.h.

§ classCObservationGPS

mrpt::utils::TRuntimeClassId mrpt::obs::CObservationGPS::classCObservationGPS
static

Definition at line 31 of file obs/CObservationGPS.h.

§ classCSerializable

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

Definition at line 42 of file CSerializable.h.

§ classinfo

const mrpt::utils::TRuntimeClassId* mrpt::obs::CObservationGPS::classinfo
static

Definition at line 31 of file obs/CObservationGPS.h.

§ GGA_datum

TGPSDatum_GGA mrpt::obs::CObservationGPS::GGA_datum

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

Definition at line 252 of file obs/CObservationGPS.h.

§ has_GGA_datum

bool mrpt::obs::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 235 of file obs/CObservationGPS.h.

§ has_PZS_datum

bool mrpt::obs::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 245 of file obs/CObservationGPS.h.

§ has_RMC_datum

bool mrpt::obs::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 240 of file obs/CObservationGPS.h.

§ has_SATS_datum

bool mrpt::obs::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 250 of file obs/CObservationGPS.h.

§ PZS_datum

TGPSDatum_PZS mrpt::obs::CObservationGPS::PZS_datum

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

Definition at line 254 of file obs/CObservationGPS.h.

§ RMC_datum

TGPSDatum_RMC mrpt::obs::CObservationGPS::RMC_datum

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

Definition at line 253 of file obs/CObservationGPS.h.

§ SATS_datum

TGPSDatum_SATS mrpt::obs::CObservationGPS::SATS_datum

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

Definition at line 255 of file obs/CObservationGPS.h.

§ sensorLabel

std::string mrpt::obs::CObservation::sensorLabel
inherited

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

Definition at line 69 of file obs/CObservation.h.

§ sensorPose

mrpt::poses::CPose3D mrpt::obs::CObservationGPS::sensorPose

The sensor pose on the robot.

Definition at line 40 of file obs/CObservationGPS.h.

§ timestamp

mrpt::system::TTimeStamp mrpt::obs::CObservation::timestamp
inherited

The associated time-stamp.

Definition at line 65 of file obs/CObservation.h.




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