Detailed Description

GPS datum for TopCon's mmGPS devices: PZS.

See also: mrpt::obs::CObservationGPS

Definition at line 17 of file gnss_messages_topcon.h.

#include <mrpt/obs/gnss_messages_topcon.h>

Inheritance diagram for mrpt::obs::gnss::Message_TOPCON_PZS:

Public Types
enum	{ msg_type = TOPCON_PZS }
	Static msg type (member expected by templates) More...

Public Member Functions
	Message_TOPCON_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>();. More...

void	dumpToStream (std::ostream &out) const override
	Dumps the contents of the observation in a human-readable form to a given output stream. More...

void	writeToStream (mrpt::serialization::CArchive &out) const
	Save to binary stream. More...

void	readFromStream (mrpt::serialization::CArchive &in)
	Load from binary stream into this existing object. More...

bool	isOfType (const gnss_message_type_t type_id) const

template<class MSG_CLASS >
bool	isOfClass () const

virtual void	fixEndianness ()
	If we are in a big endian system, reverse all fields >1 byte to fix its representation. More...

virtual void	dumpToConsole (std::ostream &o) const
	Dumps the contents of the observation in a human-readable form to an std::ostream (set to std::cout to print to console) More...

virtual bool	getAllFieldDescriptions ([[maybe_unused]] std::ostream &o) const
	Dumps a header for getAllFieldValues() More...

virtual bool	getAllFieldValues ([[maybe_unused]] std::ostream &o) const
	Dumps a line with the sequence of all field values (without a line feed at the end). More...

const std::string &	getMessageTypeAsString () const
	Returns "NMEA_GGA", etc. More...

Static Public Member Functions
static gnss_message *	readAndBuildFromStream (mrpt::serialization::CArchive &in)
	Load from binary stream and creates object detecting its type (class factory). More...

static gnss_message *	Factory (const gnss_message_type_t msg_id)
	Creates message. More...

static bool	FactoryKnowsMsgType (const gnss_message_type_t msg_id)
	Returns true if Factory() has a registered constructor for this msg type. More...

Public Attributes
double	latitude_degrees {0}
	The measured latitude, in degrees (North:+ , South:-) More...

double	longitude_degrees {0}
	The measured longitude, in degrees (East:+ , West:-) More...

double	height_meters {0}
	ellipsoidal height from N-beam [m] perhaps weighted with regular gps More...

double	RTK_height_meters {0}
	ellipsoidal height [m] without N-beam correction More...

float	PSigma {0}
	position SEP [m] More...

double	angle_transmitter {0}
	Vertical angle of N-beam. More...

uint8_t	nId {0}
	ID of the transmitter [1-4], 0 if none. More...

uint8_t	Fix {0}
	1: GPS, 2: mmGPS More...

uint8_t	TXBattery {0}
	battery level on transmitter More...

uint8_t	RXBattery {0}
	battery level on receiver More...

uint8_t	error {0}

bool	hasCartesianPosVel {false}
	system error indicator More...

double	cartesian_x {0}
	Only if hasCartesianPosVel is true. More...

double	cartesian_y {0}

double	cartesian_z {0}

double	cartesian_vx {0}
	Only if hasCartesianPosVel is true. More...

double	cartesian_vy {0}

double	cartesian_vz {0}

bool	hasPosCov {false}

mrpt::math::CMatrixFloat44	pos_covariance
	Only if hasPosCov is true. More...

bool	hasVelCov {false}

mrpt::math::CMatrixFloat44	vel_covariance
	Only if hasPosCov is true. More...

bool	hasStats {false}

uint8_t	stats_GPS_sats_used {0}

uint8_t	stats_GLONASS_sats_used {0}

uint8_t	stats_rtk_fix_progress {0}
	[0,100] %, only in modes other than RTK FIXED. More...

gnss_message_type_t	message_type
	Type of GNSS message. More...

Protected Member Functions
void	internal_writeToStream (mrpt::serialization::CArchive &out) const override
	Save to binary stream. More...

void	internal_readFromStream (mrpt::serialization::CArchive &in) override
	Save to binary stream. More...

Member Enumeration Documentation

◆ anonymous enum

anonymous enum

Static msg type (member expected by templates)

Enumerator
msg_type

Definition at line 20 of file gnss_messages_topcon.h.

Constructor & Destructor Documentation

◆ Message_TOPCON_PZS()

Message_TOPCON_PZS::Message_TOPCON_PZS ( )

Definition at line 20 of file gnss_messages_topcon.cpp.

Member Function Documentation

◆ dumpToConsole()

void gnss_message::dumpToConsole ( std::ostream & o ) const

virtualinherited

Dumps the contents of the observation in a human-readable form to an std::ostream (set to std::cout to print to console)

Definition at line 107 of file gnss_messages_common.cpp.

References mrpt::obs::gnss::getAllFieldDescriptions(), and mrpt::obs::gnss::getAllFieldValues().

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◆ dumpToStream()

void Message_TOPCON_PZS::dumpToStream ( std::ostream & out ) const

overridevirtual

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

See also: dumpToConsole()

Implements mrpt::obs::gnss::gnss_message.

Definition at line 22 of file gnss_messages_topcon.cpp.

References angle_transmitter, cartesian_vx, cartesian_vy, cartesian_vz, cartesian_x, cartesian_y, cartesian_z, error, Fix, mrpt::format(), hasCartesianPosVel, hasPosCov, hasStats, hasVelCov, height_meters, mrpt::math::MatrixVectorBase< Scalar, Derived >::inMatlabFormat(), latitude_degrees, longitude_degrees, nId, out, pos_covariance, RTK_height_meters, RXBattery, stats_GLONASS_sats_used, stats_GPS_sats_used, stats_rtk_fix_progress, TXBattery, and vel_covariance.

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◆ Factory()

gnss_message * gnss_message::Factory ( const gnss_message_type_t msg_id )

staticinherited

Creates message.

Returns: nullptr on unknown msg type

Definition at line 49 of file gnss_messages_common.cpp.

References LIST_ALL_MSGS.

◆ FactoryKnowsMsgType()

bool gnss_message::FactoryKnowsMsgType ( const gnss_message_type_t msg_id )

staticinherited

Returns true if Factory() has a registered constructor for this msg type.

Definition at line 62 of file gnss_messages_common.cpp.

References LIST_ALL_MSGS.

◆ fixEndianness()

virtual void mrpt::obs::gnss::gnss_message::fixEndianness ( )

inlinevirtualinherited

If we are in a big endian system, reverse all fields >1 byte to fix its representation.

Only in binary frames, text-based derived classes obviously do not need to reimplement this one.

Reimplemented in mrpt::obs::gnss::Message_NV_OEM6_VERSION, mrpt::obs::gnss::Message_NV_OEM6_GENERIC_SHORT_FRAME, and mrpt::obs::gnss::Message_NV_OEM6_GENERIC_FRAME.

Definition at line 62 of file gnss_messages_common.h.

◆ getAllFieldDescriptions()

virtual bool mrpt::obs::gnss::gnss_message::getAllFieldDescriptions ( [[maybe_unused] ] std::ostream & o ) const

inlinevirtualinherited

Dumps a header for getAllFieldValues()

Returns: false if not implemented for this message type

Definition at line 70 of file gnss_messages_common.h.

◆ getAllFieldValues()

virtual bool mrpt::obs::gnss::gnss_message::getAllFieldValues ( [[maybe_unused] ] std::ostream & o ) const

inlinevirtualinherited

Dumps a line with the sequence of all field values (without a line feed at the end).

See also: getAllFieldDescriptions()

Returns: false if not implemented for this message type

Definition at line 77 of file gnss_messages_common.h.

◆ getAsStruct()

template<class TGEODETICCOORDS >

TGEODETICCOORDS mrpt::obs::gnss::Message_TOPCON_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 72 of file gnss_messages_topcon.h.

References height_meters, latitude_degrees, and longitude_degrees.

◆ getMessageTypeAsString()

const std::string & gnss_message::getMessageTypeAsString ( ) const

inherited

Returns "NMEA_GGA", etc.

Definition at line 76 of file gnss_messages_common.cpp.

References LIST_ALL_MSGS.

Referenced by mrpt::hwdrivers::CGPSInterface::implement_parser_NOVATEL_OEM6().

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◆ internal_readFromStream()

void Message_TOPCON_PZS::internal_readFromStream ( mrpt::serialization::CArchive & in )

overrideprotectedvirtual

Save to binary stream.

Launches an exception upon error

Implements mrpt::obs::gnss::gnss_message.

Definition at line 75 of file gnss_messages_topcon.cpp.

References angle_transmitter, cartesian_vx, cartesian_vy, cartesian_vz, cartesian_x, cartesian_y, cartesian_z, error, Fix, hasCartesianPosVel, hasPosCov, hasStats, hasVelCov, height_meters, latitude_degrees, longitude_degrees, nId, pos_covariance, PSigma, RTK_height_meters, RXBattery, stats_GLONASS_sats_used, stats_GPS_sats_used, stats_rtk_fix_progress, TXBattery, and vel_covariance.

◆ internal_writeToStream()

void Message_TOPCON_PZS::internal_writeToStream ( mrpt::serialization::CArchive & out ) const

overrideprotectedvirtual

Save to binary stream.

Launches an exception upon error

Implements mrpt::obs::gnss::gnss_message.

Definition at line 63 of file gnss_messages_topcon.cpp.

References angle_transmitter, cartesian_vx, cartesian_vy, cartesian_vz, cartesian_x, cartesian_y, cartesian_z, error, Fix, hasCartesianPosVel, hasPosCov, hasStats, hasVelCov, height_meters, latitude_degrees, longitude_degrees, nId, out, pos_covariance, PSigma, RTK_height_meters, RXBattery, stats_GLONASS_sats_used, stats_GPS_sats_used, stats_rtk_fix_progress, TXBattery, and vel_covariance.

◆ isOfClass()

template<class MSG_CLASS >

bool mrpt::obs::gnss::gnss_message::isOfClass ( ) const

inlineinherited

Definition at line 40 of file gnss_messages_common.h.

References mrpt::obs::gnss::gnss_message::isOfType().

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◆ isOfType()

bool mrpt::obs::gnss::gnss_message::isOfType ( const gnss_message_type_t type_id ) const

inherited

Referenced by mrpt::obs::gnss::gnss_message::isOfClass().

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◆ readAndBuildFromStream()

gnss_message * gnss_message::readAndBuildFromStream ( mrpt::serialization::CArchive & in )

staticinherited

Load from binary stream and creates object detecting its type (class factory).

Launches an exception upon error

Definition at line 117 of file gnss_messages_common.cpp.

References mrpt::obs::gnss::gnss_message::internal_readFromStream(), and THROW_EXCEPTION_FMT.

Referenced by mrpt::obs::gnss::gnss_message_ptr::operator=().

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◆ readFromStream()

void gnss_message::readFromStream ( mrpt::serialization::CArchive & in )

inherited

Load from binary stream into this existing object.

Launches an exception upon error.

Definition at line 99 of file gnss_messages_common.cpp.

References ASSERT_EQUAL_.

◆ writeToStream()

void gnss_message::writeToStream ( mrpt::serialization::CArchive & out ) const

inherited

Save to binary stream.

Launches an exception upon error

Definition at line 92 of file gnss_messages_common.cpp.

References out.

Referenced by mrpt::obs::gnss::gnss_message_ptr::gnss_message_ptr(), and mrpt::obs::gnss::gnss_message_ptr::operator=().

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Member Data Documentation

◆ angle_transmitter

double mrpt::obs::gnss::Message_TOPCON_PZS::angle_transmitter {0}

Vertical angle of N-beam.

Definition at line 36 of file gnss_messages_topcon.h.

Referenced by dumpToStream(), internal_readFromStream(), internal_writeToStream(), and mrpt::obs::CObservationGPS::serializeFrom().

◆ cartesian_vx

double mrpt::obs::gnss::Message_TOPCON_PZS::cartesian_vx {0}

Only if hasCartesianPosVel is true.

Definition at line 51 of file gnss_messages_topcon.h.

Referenced by dumpToStream(), internal_readFromStream(), internal_writeToStream(), and mrpt::obs::CObservationGPS::serializeFrom().

◆ cartesian_vy

double mrpt::obs::gnss::Message_TOPCON_PZS::cartesian_vy {0}

Definition at line 51 of file gnss_messages_topcon.h.

Referenced by dumpToStream(), internal_readFromStream(), internal_writeToStream(), and mrpt::obs::CObservationGPS::serializeFrom().

◆ cartesian_vz

double mrpt::obs::gnss::Message_TOPCON_PZS::cartesian_vz {0}

Definition at line 51 of file gnss_messages_topcon.h.

Referenced by dumpToStream(), internal_readFromStream(), internal_writeToStream(), and mrpt::obs::CObservationGPS::serializeFrom().

◆ cartesian_x

double mrpt::obs::gnss::Message_TOPCON_PZS::cartesian_x {0}

Only if hasCartesianPosVel is true.

Definition at line 49 of file gnss_messages_topcon.h.

Referenced by dumpToStream(), internal_readFromStream(), internal_writeToStream(), and mrpt::obs::CObservationGPS::serializeFrom().

◆ cartesian_y

double mrpt::obs::gnss::Message_TOPCON_PZS::cartesian_y {0}

Definition at line 49 of file gnss_messages_topcon.h.

Referenced by dumpToStream(), internal_readFromStream(), internal_writeToStream(), and mrpt::obs::CObservationGPS::serializeFrom().

◆ cartesian_z

double mrpt::obs::gnss::Message_TOPCON_PZS::cartesian_z {0}

Definition at line 49 of file gnss_messages_topcon.h.

Referenced by dumpToStream(), internal_readFromStream(), internal_writeToStream(), and mrpt::obs::CObservationGPS::serializeFrom().

◆ error

uint8_t mrpt::obs::gnss::Message_TOPCON_PZS::error {0}

Definition at line 45 of file gnss_messages_topcon.h.

Referenced by dumpToStream(), internal_readFromStream(), internal_writeToStream(), and mrpt::obs::CObservationGPS::serializeFrom().

◆ Fix

uint8_t mrpt::obs::gnss::Message_TOPCON_PZS::Fix {0}

1: GPS, 2: mmGPS

Definition at line 40 of file gnss_messages_topcon.h.

Referenced by dumpToStream(), internal_readFromStream(), internal_writeToStream(), and mrpt::obs::CObservationGPS::serializeFrom().

◆ hasCartesianPosVel

bool mrpt::obs::gnss::Message_TOPCON_PZS::hasCartesianPosVel {false}

system error indicator

Definition at line 47 of file gnss_messages_topcon.h.

Referenced by dumpToStream(), internal_readFromStream(), internal_writeToStream(), and mrpt::obs::CObservationGPS::serializeFrom().

◆ hasPosCov

bool mrpt::obs::gnss::Message_TOPCON_PZS::hasPosCov {false}

Definition at line 53 of file gnss_messages_topcon.h.

Referenced by dumpToStream(), internal_readFromStream(), internal_writeToStream(), and mrpt::obs::CObservationGPS::serializeFrom().

◆ hasStats

bool mrpt::obs::gnss::Message_TOPCON_PZS::hasStats {false}

Definition at line 61 of file gnss_messages_topcon.h.

Referenced by dumpToStream(), internal_readFromStream(), internal_writeToStream(), and mrpt::obs::CObservationGPS::serializeFrom().

◆ hasVelCov

bool mrpt::obs::gnss::Message_TOPCON_PZS::hasVelCov {false}

Definition at line 57 of file gnss_messages_topcon.h.

Referenced by dumpToStream(), internal_readFromStream(), internal_writeToStream(), and mrpt::obs::CObservationGPS::serializeFrom().

◆ height_meters

double mrpt::obs::gnss::Message_TOPCON_PZS::height_meters {0}

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

Definition at line 30 of file gnss_messages_topcon.h.

Referenced by dumpToStream(), getAsStruct(), internal_readFromStream(), internal_writeToStream(), and mrpt::obs::CObservationGPS::serializeFrom().

◆ latitude_degrees

double mrpt::obs::gnss::Message_TOPCON_PZS::latitude_degrees {0}

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

Definition at line 26 of file gnss_messages_topcon.h.

Referenced by dumpToStream(), getAsStruct(), internal_readFromStream(), internal_writeToStream(), and mrpt::obs::CObservationGPS::serializeFrom().

◆ longitude_degrees

double mrpt::obs::gnss::Message_TOPCON_PZS::longitude_degrees {0}

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

Definition at line 28 of file gnss_messages_topcon.h.

Referenced by dumpToStream(), getAsStruct(), internal_readFromStream(), internal_writeToStream(), and mrpt::obs::CObservationGPS::serializeFrom().

◆ message_type

gnss_message_type_t mrpt::obs::gnss::gnss_message::message_type

inherited

Type of GNSS message.

Definition at line 29 of file gnss_messages_common.h.

Referenced by mrpt::hwdrivers::CGPSInterface::implement_parser_NOVATEL_OEM6(), and mrpt::obs::CObservationGPS::serializeFrom().

◆ nId

uint8_t mrpt::obs::gnss::Message_TOPCON_PZS::nId {0}

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

Definition at line 38 of file gnss_messages_topcon.h.

Referenced by dumpToStream(), internal_readFromStream(), internal_writeToStream(), and mrpt::obs::CObservationGPS::serializeFrom().

◆ pos_covariance

mrpt::math::CMatrixFloat44 mrpt::obs::gnss::Message_TOPCON_PZS::pos_covariance

Only if hasPosCov is true.

Definition at line 55 of file gnss_messages_topcon.h.

Referenced by dumpToStream(), internal_readFromStream(), internal_writeToStream(), and mrpt::obs::CObservationGPS::serializeFrom().

◆ PSigma

float mrpt::obs::gnss::Message_TOPCON_PZS::PSigma {0}

position SEP [m]

Definition at line 34 of file gnss_messages_topcon.h.

Referenced by internal_readFromStream(), internal_writeToStream(), and mrpt::obs::CObservationGPS::serializeFrom().

◆ RTK_height_meters

double mrpt::obs::gnss::Message_TOPCON_PZS::RTK_height_meters {0}

ellipsoidal height [m] without N-beam correction

Definition at line 32 of file gnss_messages_topcon.h.

Referenced by dumpToStream(), internal_readFromStream(), internal_writeToStream(), and mrpt::obs::CObservationGPS::serializeFrom().

◆ RXBattery

uint8_t mrpt::obs::gnss::Message_TOPCON_PZS::RXBattery {0}

battery level on receiver

Definition at line 44 of file gnss_messages_topcon.h.

Referenced by dumpToStream(), internal_readFromStream(), internal_writeToStream(), and mrpt::obs::CObservationGPS::serializeFrom().

◆ stats_GLONASS_sats_used

uint8_t mrpt::obs::gnss::Message_TOPCON_PZS::stats_GLONASS_sats_used {0}

Definition at line 63 of file gnss_messages_topcon.h.

Referenced by dumpToStream(), internal_readFromStream(), internal_writeToStream(), and mrpt::obs::CObservationGPS::serializeFrom().

◆ stats_GPS_sats_used

uint8_t mrpt::obs::gnss::Message_TOPCON_PZS::stats_GPS_sats_used {0}

Definition at line 62 of file gnss_messages_topcon.h.

Referenced by dumpToStream(), internal_readFromStream(), internal_writeToStream(), and mrpt::obs::CObservationGPS::serializeFrom().

◆ stats_rtk_fix_progress

uint8_t mrpt::obs::gnss::Message_TOPCON_PZS::stats_rtk_fix_progress {0}

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

Definition at line 65 of file gnss_messages_topcon.h.

Referenced by dumpToStream(), internal_readFromStream(), internal_writeToStream(), and mrpt::obs::CObservationGPS::serializeFrom().

◆ TXBattery

uint8_t mrpt::obs::gnss::Message_TOPCON_PZS::TXBattery {0}

battery level on transmitter

Definition at line 42 of file gnss_messages_topcon.h.

Referenced by dumpToStream(), internal_readFromStream(), internal_writeToStream(), and mrpt::obs::CObservationGPS::serializeFrom().

◆ vel_covariance

mrpt::math::CMatrixFloat44 mrpt::obs::gnss::Message_TOPCON_PZS::vel_covariance

Only if hasPosCov is true.

Definition at line 59 of file gnss_messages_topcon.h.

Referenced by dumpToStream(), internal_readFromStream(), internal_writeToStream(), and mrpt::obs::CObservationGPS::serializeFrom().

Detailed Description

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Member Enumeration Documentation

◆ anonymous enum

Constructor & Destructor Documentation

◆ Message_TOPCON_PZS()

Member Function Documentation

◆ dumpToConsole()

◆ dumpToStream()

◆ Factory()

◆ FactoryKnowsMsgType()

◆ fixEndianness()

◆ getAllFieldDescriptions()

◆ getAllFieldValues()

◆ getAsStruct()

◆ getMessageTypeAsString()

◆ internal_readFromStream()

◆ internal_writeToStream()

◆ isOfClass()

◆ isOfType()

◆ readAndBuildFromStream()

◆ readFromStream()

◆ writeToStream()

Member Data Documentation

◆ angle_transmitter

◆ cartesian_vx

◆ cartesian_vy

◆ cartesian_vz

◆ cartesian_x

◆ cartesian_y

◆ cartesian_z

◆ error

◆ Fix

◆ hasCartesianPosVel

◆ hasPosCov

◆ hasStats

◆ hasVelCov

◆ height_meters

◆ latitude_degrees

◆ longitude_degrees

◆ message_type

◆ nId

◆ pos_covariance

◆ PSigma

◆ RTK_height_meters

◆ RXBattery

◆ stats_GLONASS_sats_used

◆ stats_GPS_sats_used

◆ stats_rtk_fix_progress

◆ TXBattery

◆ vel_covariance