MRPT  2.0.4
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mrpt::obs::gnss Namespace Reference

Detailed Description

GNSS (GPS) data structures, mainly for use within mrpt::obs::CObservationGPS.

Namespaces

 nv_oem6_ins_status_type
 
 nv_oem6_position_type
 
 nv_oem6_solution_status
 

Classes

struct  gnss_message
 Pure virtual base for all message types. More...
 
struct  gnss_message_ptr
 A smart pointer to a GNSS message. More...
 
struct  Message_NMEA_GGA
 NMEA datum: GGA. More...
 
struct  Message_NMEA_GLL
 NMEA datum: GLL. More...
 
struct  Message_NMEA_GSA
 NMEA datum: GSA. More...
 
struct  Message_NMEA_RMC
 NMEA datum: RMC. More...
 
struct  Message_NMEA_VTG
 NMEA datum: VTG. More...
 
struct  Message_NMEA_ZDA
 NMEA datum: ZDA. More...
 
struct  Message_NV_OEM6_GENERIC_FRAME
 Novatel generic frame (to store frames without a parser at the present time). More...
 
struct  Message_NV_OEM6_GENERIC_SHORT_FRAME
 Novatel generic short-header frame (to store frames without a parser at the present time). More...
 
struct  Message_NV_OEM6_RANGECMP
 Novatel frame: NV_OEM6_RANGECMP. More...
 
struct  Message_NV_OEM6_VERSION
 Novatel frame: NV_OEM6_VERSION. More...
 
struct  Message_TOPCON_PZS
 GPS datum for TopCon's mmGPS devices: PZS. More...
 
struct  Message_TOPCON_SATS
 TopCon mmGPS devices: SATS, a generic structure for statistics about tracked satelites and their positions. More...
 
struct  nv_oem6_header_t
 Novatel OEM6 regular header structure. More...
 
struct  nv_oem6_short_header_t
 Novatel OEM6 short header structure. More...
 
struct  UTC_time
 UTC (Coordinated Universal Time) time-stamp structure for GPS messages. More...
 

Enumerations

enum  gnss_message_type_t {
  NMEA_GGA = 10, NMEA_GLL, NMEA_GSA, NMEA_GSV,
  NMEA_MSS, NMEA_RMC, NMEA_VTG, NMEA_ZDA,
  TOPCON_PZS = 30, TOPCON_SATS, NV_OEM6_MSG2ENUM = 1000, NV_OEM6_GENERIC_FRAME = 3000 + NV_OEM6_MSG2ENUM,
  NV_OEM6_GENERIC_SHORT_FRAME, NV_OEM6_ALIGNBSLNENU = 1315 + NV_OEM6_MSG2ENUM, NV_OEM6_ALIGNBSLNXYZ = 1314 + NV_OEM6_MSG2ENUM, NV_OEM6_ALIGNDOP = 1332 + NV_OEM6_MSG2ENUM,
  NV_OEM6_BESTPOS = 42 + NV_OEM6_MSG2ENUM, NV_OEM6_BESTSATS = 1194 + NV_OEM6_MSG2ENUM, NV_OEM6_BESTUTM = 726 + NV_OEM6_MSG2ENUM, NV_OEM6_BESTVEL = 99 + NV_OEM6_MSG2ENUM,
  NV_OEM6_BESTXYZ = 241 + NV_OEM6_MSG2ENUM, NV_OEM6_CLOCKSTEERING = 26 + NV_OEM6_MSG2ENUM, NV_OEM6_GPGLL = 219 + NV_OEM6_MSG2ENUM, NV_OEM6_GPGGA = 218 + NV_OEM6_MSG2ENUM,
  NV_OEM6_GPGGARTK, NV_OEM6_GPGSA = 221 + NV_OEM6_MSG2ENUM, NV_OEM6_GPGSV = 223 + NV_OEM6_MSG2ENUM, NV_OEM6_GPHDT = 1045 + NV_OEM6_MSG2ENUM,
  NV_OEM6_GPRMC = 225 + NV_OEM6_MSG2ENUM, NV_OEM6_GPVTG = 226 + NV_OEM6_MSG2ENUM, NV_OEM6_GPZDA = 227 + NV_OEM6_MSG2ENUM, NV_OEM6_IONUTC = 8 + NV_OEM6_MSG2ENUM,
  NV_OEM6_MARKPOS = 181 + NV_OEM6_MSG2ENUM, NV_OEM6_MARK2POS = 615 + NV_OEM6_MSG2ENUM, NV_OEM6_MARKTIME = 231 + NV_OEM6_MSG2ENUM, NV_OEM6_MARK2TIME = 616 + NV_OEM6_MSG2ENUM,
  NV_OEM6_PPPPOS = 1538 + NV_OEM6_MSG2ENUM, NV_OEM6_RANGECMP = 140 + NV_OEM6_MSG2ENUM, NV_OEM6_RAWEPHEM = 41 + NV_OEM6_MSG2ENUM, NV_OEM6_RXSTATUS = 93 + NV_OEM6_MSG2ENUM,
  NV_OEM6_VERSION = 37 + NV_OEM6_MSG2ENUM, NV_OEM6_INSPVAS = 508 + NV_OEM6_MSG2ENUM, NV_OEM6_INSATTS = 319 + NV_OEM6_MSG2ENUM, NV_OEM6_INSCOVS = 320 + NV_OEM6_MSG2ENUM,
  NV_OEM6_INSVELS = 324 + NV_OEM6_MSG2ENUM, NV_OEM6_RAWIMUS = 325 + NV_OEM6_MSG2ENUM
}
 List of all known GNSS message types. More...
 

Functions

template<class TGEODETICCOORDS >
GNSS_BINARY_MSG_DEFINITION_MID TGEODETICCOORDS getAsStruct () const
 Return the geodetic coords as a mrpt::topography::TGeodeticCoords structure (requires linking against mrpt-topography) Call as: getAsStruct<TGeodeticCoords>();. More...
 
bool getAllFieldDescriptions (std::ostream &o) const override
 
bool getAllFieldValues (std::ostream &o) const override
 
void fixEndianness () override
 

Variables

nv_oem6_header_t header
 Novatel frame: NV_OEM6_BESTPOS. More...
 
nv_oem6_solution_status::nv_solution_status_t solution_stat
 
nv_oem6_position_type::nv_position_type_t position_type
 
double lat = 0
 [deg], [deg], hgt over sea level[m] More...
 
double lon = 0
 
double hgt = 0
 
float undulation = 0
 
uint32_t datum_id = 0
 
float lat_sigma = 0
 Uncertainties (all in [m]) More...
 
float lon_sigma = 0
 
float hgt_sigma = 0
 
char base_station_id [4] {0, 0, 0, 0}
 
float diff_age = 0
 
float sol_age = 0
 
uint8_t num_sats_tracked = 0
 
uint8_t num_sats_sol = 0
 
uint8_t num_sats_sol_L1 = 0
 
uint8_t num_sats_sol_multi = 0
 
uint8_t reserved = 0
 
uint8_t ext_sol_stat = 0
 
uint8_t galileo_beidou_mask = 0
 
uint8_t gps_glonass_mask = 0
 
uint32_t crc = 0
 
uint32_t week = 0
 
double seconds_in_week = 0
 
double vel_north = 0
 
double vel_east = 0
 
double vel_up = 0
 
double roll = 0
 
double pitch = 0
 
double azimuth = 0
 
nv_oem6_ins_status_type::nv_ins_status_type_t ins_status
 
double pos_cov [9] = {0, 0, 0, 0, 0, 0, 0, 0, 0}
 Position covariance matrix in local level frame (metres squared) xx,xy,xz,yx,yy,yz,zx,zy,zz. More...
 
double att_cov [9] = {0, 0, 0, 0, 0, 0, 0, 0, 0}
 Attitude covariance matrix of the SPAN frame to the local level frame. More...
 
double vel_cov [9] = {0, 0, 0, 0, 0, 0, 0, 0, 0}
 Velocity covariance matrix in local level frame. More...
 
uint32_t error = 0
 
uint32_t num_stats = 0
 
uint32_t rxstat = 0
 
uint32_t rxstat_pri = 0
 
uint32_t rxstat_set = 0
 
uint32_t rxstat_clear = 0
 
uint32_t aux1stat = 0
 
uint32_t aux1stat_pri = 0
 
uint32_t aux1stat_set = 0
 
uint32_t aux1stat_clear = 0
 
uint32_t aux2stat = 0
 
uint32_t aux2stat_pri = 0
 
uint32_t aux2stat_set = 0
 
uint32_t aux2stat_clear = 0
 
uint32_t aux3stat = 0
 
uint32_t aux3stat_pri = 0
 
uint32_t aux3stat_set = 0
 
uint32_t aux3stat_clear = 0
 
uint32_t sat_prn = 0
 
uint32_t ref_week = 0
 
uint32_t ref_secs = 0
 
uint8_t subframe1 [30]
 
uint8_t subframe2 [30]
 
uint8_t subframe3 [30]
 
double week_seconds = 0
 
uint32_t imu_status = 0
 
int32_t accel_z = 0
 
int32_t accel_y_neg = 0
 
int32_t accel_x = 0
 
int32_t gyro_z = 0
 
int32_t gyro_y_neg = 0
 
int32_t gyro_x = 0
 
double clock_offset = 0
 
double clock_offset_std = 0
 
double utc_offset = 0
 
uint32_t clock_status = 0
 
double a0 = 0
 Ionospheric alpha and beta constant terms parameters. More...
 
double a1 = 0
 
double a2 = 0
 
double a3 = 0
 
double b0 = 0
 
double b1 = 0
 
double b2 = 0
 
double b3 = 0
 
uint32_t utc_wn = 0
 UTC reference week number. More...
 
uint32_t tot = 0
 Reference time of UTC params. More...
 
double A0 = 0
 UTC constant and 1st order terms. More...
 
double A1 = 0
 
uint32_t wn_lsf = 0
 Future week number. More...
 
uint32_t dn = 0
 Day number (1=sunday, 7=saturday) More...
 
uint32_t deltat_ls = 0
 Delta time due to leap seconds. More...
 
uint32_t deltat_lsf = 0
 Delta time due to leap seconds (future) More...
 

Enumeration Type Documentation

◆ gnss_message_type_t

enum mrpt::obs::gnss::gnss_message_type_t

List of all known GNSS message types.

Normally, each type here has a corresponding class, derived from mrpt::obs::gnss::gnss_message, that stores the message data, but some classes may be still in the "TO-DO" list or just not needed in practice. On the other hand, all message classes must be associated with one and only one value from this list.

See also
mrpt::obs::CObservationGPS, mrpt::obs::gnss::gnss_message
Enumerator
NMEA_GGA 
NMEA_GLL 
NMEA_GSA 
NMEA_GSV 
NMEA_MSS 
NMEA_RMC 
NMEA_VTG 
NMEA_ZDA 
TOPCON_PZS 
TOPCON_SATS 
NV_OEM6_MSG2ENUM 
NV_OEM6_GENERIC_FRAME 
NV_OEM6_GENERIC_SHORT_FRAME 
NV_OEM6_ALIGNBSLNENU 
NV_OEM6_ALIGNBSLNXYZ 
NV_OEM6_ALIGNDOP 
NV_OEM6_BESTPOS 
NV_OEM6_BESTSATS 
NV_OEM6_BESTUTM 
NV_OEM6_BESTVEL 
NV_OEM6_BESTXYZ 
NV_OEM6_CLOCKSTEERING 
NV_OEM6_GPGLL 
NV_OEM6_GPGGA 
NV_OEM6_GPGGARTK 
NV_OEM6_GPGSA 
NV_OEM6_GPGSV 
NV_OEM6_GPHDT 
NV_OEM6_GPRMC 
NV_OEM6_GPVTG 
NV_OEM6_GPZDA 
NV_OEM6_IONUTC 
NV_OEM6_MARKPOS 
NV_OEM6_MARK2POS 
NV_OEM6_MARKTIME 
NV_OEM6_MARK2TIME 
NV_OEM6_PPPPOS 
NV_OEM6_RANGECMP 
NV_OEM6_RAWEPHEM 
NV_OEM6_RXSTATUS 
NV_OEM6_VERSION 
NV_OEM6_INSPVAS 
NV_OEM6_INSATTS 
NV_OEM6_INSCOVS 
NV_OEM6_INSVELS 
NV_OEM6_RAWIMUS 

Definition at line 22 of file gnss_messages_type_list.h.

Function Documentation

◆ fixEndianness()

GNSS_BINARY_MSG_DEFINITION_MID void mrpt::obs::gnss::fixEndianness ( )
override

Definition at line 277 of file gnss_messages_novatel.h.

References mrpt::reverseBytesInPlace(), and mrpt::reverseBytesInPlace_enum().

Referenced by mrpt::obs::gnss::Message_NV_OEM6_GENERIC_FRAME::internal_readFromStream(), mrpt::obs::gnss::Message_NV_OEM6_GENERIC_SHORT_FRAME::internal_readFromStream(), mrpt::obs::gnss::Message_NV_OEM6_RANGECMP::internal_readFromStream(), and mrpt::obs::gnss::Message_NV_OEM6_VERSION::internal_readFromStream().

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◆ getAllFieldDescriptions()

GNSS_BINARY_MSG_DEFINITION_MID bool mrpt::obs::gnss::getAllFieldDescriptions ( std::ostream &  o) const
override

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

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◆ getAllFieldValues()

bool mrpt::obs::gnss::getAllFieldValues ( std::ostream &  o) const
override

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

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◆ getAsStruct()

template<class TGEODETICCOORDS >
GNSS_BINARY_MSG_DEFINITION_MID TGEODETICCOORDS mrpt::obs::gnss::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 271 of file gnss_messages_novatel.h.

Variable Documentation

◆ a0

double mrpt::obs::gnss::a0 = 0

Ionospheric alpha and beta constant terms parameters.

Definition at line 642 of file gnss_messages_novatel.h.

◆ A0

double mrpt::obs::gnss::A0 = 0

UTC constant and 1st order terms.

Definition at line 648 of file gnss_messages_novatel.h.

◆ a1

double mrpt::obs::gnss::a1 = 0

Definition at line 642 of file gnss_messages_novatel.h.

Referenced by mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::generatePWConsistenciesMatrix(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::generatePWConsistencyElement(), mrpt::topography::GeodeticToUTM(), mrpt::maps::CPointsMap::internal_insertObservation(), mrAugmentBestRun(), mrFindQuadNeighbors2(), and mrpt::math::solve_poly5().

◆ A1

double mrpt::obs::gnss::A1 = 0

Definition at line 648 of file gnss_messages_novatel.h.

Referenced by mrpt::vision::pnp::epnp::epnp(), mrpt::topography::geodeticToUTM(), mrpt::vision::pnp::rpnp::getp3p(), mrpt::vision::pnp::epnp::qr_solve(), mrpt::vision::pnp::upnp::qr_solve(), mrpt::vision::pnp::upnp::upnp(), mrpt::topography::UTMToGeodetic(), mrpt::vision::pnp::epnp::~epnp(), and mrpt::vision::pnp::upnp::~upnp().

◆ a2

double mrpt::obs::gnss::a2 = 0

Definition at line 642 of file gnss_messages_novatel.h.

Referenced by mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::generatePWConsistenciesMatrix(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::generatePWConsistencyElement(), mrpt::topography::GeodeticToUTM(), mrpt::maps::CPointsMap::internal_insertObservation(), mrAugmentBestRun(), mrFindQuadNeighbors2(), mrpt::vision::pnp::p3p::solve_for_lengths(), mrpt::math::solve_poly3(), and mrpt::topography::UTMToGeodetic().

◆ a3

double mrpt::obs::gnss::a3 = 0

Definition at line 642 of file gnss_messages_novatel.h.

Referenced by mrAugmentBestRun(), and mrFindQuadNeighbors2().

◆ accel_x

int32_t mrpt::obs::gnss::accel_x = 0

Definition at line 505 of file gnss_messages_novatel.h.

◆ accel_y_neg

int32_t mrpt::obs::gnss::accel_y_neg = 0

Definition at line 505 of file gnss_messages_novatel.h.

◆ accel_z

int32_t mrpt::obs::gnss::accel_z = 0

Definition at line 505 of file gnss_messages_novatel.h.

◆ att_cov

double mrpt::obs::gnss::att_cov[9] = {0, 0, 0, 0, 0, 0, 0, 0, 0}

Attitude covariance matrix of the SPAN frame to the local level frame.

(deg sq) xx,xy,xz,yx,yy,yz,zx,zy,zz

Definition at line 353 of file gnss_messages_novatel.h.

◆ aux1stat

uint32_t mrpt::obs::gnss::aux1stat = 0

Definition at line 409 of file gnss_messages_novatel.h.

◆ aux1stat_clear

uint32_t mrpt::obs::gnss::aux1stat_clear = 0

Definition at line 409 of file gnss_messages_novatel.h.

◆ aux1stat_pri

uint32_t mrpt::obs::gnss::aux1stat_pri = 0

Definition at line 409 of file gnss_messages_novatel.h.

◆ aux1stat_set

uint32_t mrpt::obs::gnss::aux1stat_set = 0

Definition at line 409 of file gnss_messages_novatel.h.

◆ aux2stat

uint32_t mrpt::obs::gnss::aux2stat = 0

Definition at line 410 of file gnss_messages_novatel.h.

◆ aux2stat_clear

uint32_t mrpt::obs::gnss::aux2stat_clear = 0

Definition at line 410 of file gnss_messages_novatel.h.

◆ aux2stat_pri

uint32_t mrpt::obs::gnss::aux2stat_pri = 0

Definition at line 410 of file gnss_messages_novatel.h.

◆ aux2stat_set

uint32_t mrpt::obs::gnss::aux2stat_set = 0

Definition at line 410 of file gnss_messages_novatel.h.

◆ aux3stat

uint32_t mrpt::obs::gnss::aux3stat = 0

Definition at line 411 of file gnss_messages_novatel.h.

◆ aux3stat_clear

uint32_t mrpt::obs::gnss::aux3stat_clear = 0

Definition at line 411 of file gnss_messages_novatel.h.

◆ aux3stat_pri

uint32_t mrpt::obs::gnss::aux3stat_pri = 0

Definition at line 411 of file gnss_messages_novatel.h.

◆ aux3stat_set

uint32_t mrpt::obs::gnss::aux3stat_set = 0

Definition at line 411 of file gnss_messages_novatel.h.

◆ azimuth

double mrpt::obs::gnss::azimuth = 0

Definition at line 306 of file gnss_messages_novatel.h.

Referenced by mrpt::obs::CObservationVelodyneScan::TPointCloud::clear(), mrpt::obs::CObservationVelodyneScan::TPointCloud::clear_deep(), mrpt::ros1bridge::fromROS(), mrpt::obs::CObservationVelodyneScan::generatePointCloud(), mrpt::obs::CObservationVelodyneScan::generatePointCloudAlongSE3Trajectory(), and mrpt::obs::CObservationVelodyneScan::TPointCloud::reserve().

◆ b0

double mrpt::obs::gnss::b0 = 0

Definition at line 642 of file gnss_messages_novatel.h.

Referenced by mrpt::vision::pnp::p3p::solve_for_lengths().

◆ b1

double mrpt::obs::gnss::b1 = 0

Definition at line 642 of file gnss_messages_novatel.h.

Referenced by mrpt::hwdrivers::CHokuyoURG::doProcessSimple(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::generatePWConsistenciesMatrix(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::generatePWConsistencyElement(), mrAugmentBestRun(), mrFindQuadNeighbors2(), mrpt::math::noncentralChi2PDF_CDF(), mrpt::vision::pnp::p3p::solve_for_lengths(), mrpt::math::solve_poly4(), mrpt::math::solve_poly5(), mrpt::math::spline(), and mrpt::opengl::CAngularObservationMesh::updateMesh().

◆ b2

double mrpt::obs::gnss::b2 = 0

Definition at line 642 of file gnss_messages_novatel.h.

Referenced by mrpt::hwdrivers::CHokuyoURG::doProcessSimple(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::generatePWConsistenciesMatrix(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::generatePWConsistencyElement(), mrAugmentBestRun(), mrFindQuadNeighbors2(), mrpt::vision::pnp::dls::run_kernel(), solve_deg4(), mrpt::vision::pnp::p3p::solve_for_lengths(), mrpt::math::spline(), mrpt::opengl::CAngularObservationMesh::updateMesh(), and mrpt::topography::UTMToGeodetic().

◆ b3

double mrpt::obs::gnss::b3 = 0

Definition at line 642 of file gnss_messages_novatel.h.

Referenced by mrpt::hwdrivers::CHokuyoURG::doProcessSimple(), mrpt::vision::pnp::epnp::find_betas_approx_2(), mrAugmentBestRun(), mrFindQuadNeighbors2(), solve_deg4(), and mrpt::opengl::CAngularObservationMesh::updateMesh().

◆ base_station_id

char mrpt::obs::gnss::base_station_id {0, 0, 0, 0}

Definition at line 257 of file gnss_messages_novatel.h.

◆ clock_offset

double mrpt::obs::gnss::clock_offset = 0

Definition at line 587 of file gnss_messages_novatel.h.

◆ clock_offset_std

double mrpt::obs::gnss::clock_offset_std = 0

Definition at line 587 of file gnss_messages_novatel.h.

◆ clock_status

uint32_t mrpt::obs::gnss::clock_status = 0

Definition at line 589 of file gnss_messages_novatel.h.

◆ crc

uint32_t mrpt::obs::gnss::crc = 0

Definition at line 265 of file gnss_messages_novatel.h.

Referenced by mrpt::hwdrivers::CSickLaserSerial::SendCommandToSICK(), and TEST().

◆ datum_id

uint32_t mrpt::obs::gnss::datum_id = 0

Definition at line 254 of file gnss_messages_novatel.h.

◆ deltat_ls

uint32_t mrpt::obs::gnss::deltat_ls = 0

Delta time due to leap seconds.

Definition at line 654 of file gnss_messages_novatel.h.

◆ deltat_lsf

uint32_t mrpt::obs::gnss::deltat_lsf = 0

Delta time due to leap seconds (future)

Definition at line 656 of file gnss_messages_novatel.h.

◆ diff_age

float mrpt::obs::gnss::diff_age = 0

Definition at line 258 of file gnss_messages_novatel.h.

◆ dn

uint32_t mrpt::obs::gnss::dn = 0

Day number (1=sunday, 7=saturday)

Definition at line 652 of file gnss_messages_novatel.h.

◆ error

uint32_t mrpt::obs::gnss::error = 0

Definition at line 407 of file gnss_messages_novatel.h.

Referenced by mrpt::hwdrivers::CRovio::getEncoders(), mrpt::hwdrivers::CPhidgetInterfaceKitProximitySensors::getObservation(), mrpt::hwdrivers::CImageGrabber_FlyCapture2::getObservation(), mrpt::hwdrivers::CRovio::getRovioState(), mrpt::hwdrivers::CImageGrabber_FlyCapture2::open(), mrpt::hwdrivers::CRovio::pathGetList(), mrpt::hwdrivers::CImageGrabber_FlyCapture2::startCapture(), mrpt::hwdrivers::CImageGrabber_FlyCapture2::startSyncCapture(), and mrpt::hwdrivers::CImageGrabber_FlyCapture2::stopCapture().

◆ ext_sol_stat

uint8_t mrpt::obs::gnss::ext_sol_stat = 0

Definition at line 262 of file gnss_messages_novatel.h.

◆ galileo_beidou_mask

uint8_t mrpt::obs::gnss::galileo_beidou_mask = 0

Definition at line 263 of file gnss_messages_novatel.h.

◆ gps_glonass_mask

uint8_t mrpt::obs::gnss::gps_glonass_mask = 0

Definition at line 264 of file gnss_messages_novatel.h.

◆ gyro_x

int32_t mrpt::obs::gnss::gyro_x = 0

Definition at line 506 of file gnss_messages_novatel.h.

◆ gyro_y_neg

int32_t mrpt::obs::gnss::gyro_y_neg = 0

Definition at line 506 of file gnss_messages_novatel.h.

◆ gyro_z

int32_t mrpt::obs::gnss::gyro_z = 0

Definition at line 506 of file gnss_messages_novatel.h.

◆ header

GNSS_BINARY_MSG_DEFINITION_MID_END nv_oem6_header_t mrpt::obs::gnss::header

Novatel frame: NV_OEM6_BESTPOS.

Novatel frame: NV_OEM6_IONUTC.

Novatel frame: NV_OEM6_MARK2TIME.

Novatel frame: NV_OEM6_MARKTIME.

Novatel frame: NV_OEM6_MARKPOS.

Novatel frame: NV_OEM6_RAWIMUS.

Novatel frame: NV_OEM6_RAWEPHEM.

Novatel frame: NV_OEM6_RXSTATUS.

Novatel frame: NV_OEM6_INSCOVS.

Novatel frame: NV_OEM6_INSPVAS.

See also
mrpt::obs::CObservationGPS Frame header

Definition at line 246 of file gnss_messages_novatel.h.

Referenced by mrpt::obs::gnss::Message_NV_OEM6_GENERIC_FRAME::dumpToStream(), mrpt::obs::gnss::Message_NV_OEM6_GENERIC_SHORT_FRAME::dumpToStream(), mrpt::hwdrivers::CVelodyneScanner::internal_read_PCAP_packet(), mrpt::obs::gnss::Message_NV_OEM6_GENERIC_FRAME::internal_readFromStream(), mrpt::obs::gnss::Message_NV_OEM6_GENERIC_SHORT_FRAME::internal_readFromStream(), mrpt::obs::gnss::Message_NV_OEM6_RANGECMP::internal_readFromStream(), mrpt::obs::gnss::Message_NV_OEM6_VERSION::internal_readFromStream(), mrpt::obs::gnss::Message_NV_OEM6_GENERIC_FRAME::internal_writeToStream(), mrpt::obs::gnss::Message_NV_OEM6_GENERIC_SHORT_FRAME::internal_writeToStream(), mrpt::obs::gnss::Message_NV_OEM6_RANGECMP::internal_writeToStream(), mrpt::obs::gnss::Message_NV_OEM6_VERSION::internal_writeToStream(), mrpt::maps::loadLASFile(), mrpt::hwdrivers::CVelodyneScanner::receivePackets(), mrpt::maps::saveLASFile(), and mrpt::ros1bridge::toROS().

◆ hgt

double mrpt::obs::gnss::hgt = 0

Definition at line 252 of file gnss_messages_novatel.h.

◆ hgt_sigma

float mrpt::obs::gnss::hgt_sigma = 0

Definition at line 256 of file gnss_messages_novatel.h.

◆ imu_status

uint32_t mrpt::obs::gnss::imu_status = 0

Definition at line 504 of file gnss_messages_novatel.h.

◆ ins_status

nv_oem6_ins_status_type::nv_ins_status_type_t mrpt::obs::gnss::ins_status
Initial value:
=
nv_oem6_ins_status_type::INS_INACTIVE
mrpt::obs::gnss::nv_oem6_ins_status_type::INS_INACTIVE
Definition: gnss_messages_novatel.h:177

Definition at line 307 of file gnss_messages_novatel.h.

◆ lat

double mrpt::obs::gnss::lat = 0

[deg], [deg], hgt over sea level[m]

Definition at line 252 of file gnss_messages_novatel.h.

Referenced by mrpt::topography::geodeticToGeocentric(), mrpt::topography::geodeticToGeocentric_WGS84(), mrpt::topography::GeodeticToUTM(), mrpt::topography::geodeticToUTM(), and mrpt::hwdrivers::CGPSInterface::parse_NMEA().

◆ lat_sigma

float mrpt::obs::gnss::lat_sigma = 0

Uncertainties (all in [m])

Definition at line 256 of file gnss_messages_novatel.h.

◆ lon

double mrpt::obs::gnss::lon = 0

Definition at line 252 of file gnss_messages_novatel.h.

Referenced by mrpt::comms::CClientTCPSocket::connect(), mrpt::topography::geodeticToGeocentric(), mrpt::topography::geodeticToGeocentric_WGS84(), mrpt::topography::GeodeticToUTM(), and mrpt::topography::geodeticToUTM().

◆ lon_sigma

float mrpt::obs::gnss::lon_sigma = 0

Definition at line 256 of file gnss_messages_novatel.h.

◆ num_sats_sol

uint8_t mrpt::obs::gnss::num_sats_sol = 0

Definition at line 259 of file gnss_messages_novatel.h.

◆ num_sats_sol_L1

uint8_t mrpt::obs::gnss::num_sats_sol_L1 = 0

Definition at line 259 of file gnss_messages_novatel.h.

◆ num_sats_sol_multi

uint8_t mrpt::obs::gnss::num_sats_sol_multi = 0

Definition at line 260 of file gnss_messages_novatel.h.

◆ num_sats_tracked

uint8_t mrpt::obs::gnss::num_sats_tracked = 0

Definition at line 259 of file gnss_messages_novatel.h.

◆ num_stats

uint32_t mrpt::obs::gnss::num_stats = 0

Definition at line 407 of file gnss_messages_novatel.h.

◆ pitch

double mrpt::obs::gnss::pitch = 0

Definition at line 306 of file gnss_messages_novatel.h.

Referenced by check_CPose3D_tofrom_ROS(), mrpt::poses::CPose3DPDFGaussian::copyFrom(), mrpt::obs::CObservationBearingRange::debugPrintOut(), generate_points(), Pose3DPDFGaussTests::generateRandomPose3DPDF(), Pose3DQuatPDFGaussTests::generateRandomPose3DPDF(), Pose3DQuatPDFGaussTests::generateRandomPoseQuat3DPDF(), mrpt::poses::CPose3DGridTemplate< double >::getAsMatrix(), mrpt::poses::CPose3DGridTemplate< double >::getByPos(), mrpt::poses::internal::getPoseFromString(), mrpt::poses::CPoseInterpolatorBase< 3 >::impl_interpolation(), IMPLEMENTS_SERIALIZABLE(), mrpt::poses::CPose3DPDF::jacobiansPoseComposition(), mrpt::hwdrivers::CPhidgetInterfaceKitProximitySensors::loadConfig_sensorSpecific(), mrpt::opengl::CAngularObservationMesh::FTrace2D< T >::operator()(), mrpt::poses::CPose3DGridTemplate< double >::pitch2idx(), quat_vs_YPR(), mrpt::opengl::CRenderizable::readFromStreamRender(), mrpt::math::CQuaternion< T >::rpy(), mrpt::math::CQuaternion< T >::rpy_and_jacobian(), mrpt::maps::CLandmarksMap::simulateRangeBearingReadings(), Pose3DQuatTests::test_invComposePoint_vs_CPose3D(), Pose3DQuatPDFGaussTests::test_toFromYPRGauss(), Pose3DPDFGaussTests::testAllPoseOperators(), Pose3DQuatPDFGaussTests::testChangeCoordsRef(), Pose3DPDFGaussTests::testChangeCoordsRef(), Pose3DPDFGaussTests::testCompositionJacobian(), Pose3DQuatPDFGaussTests::testCompositionJacobian(), Pose3DQuatPDFGaussTests::testInverse(), Pose3DPDFGaussTests::testPoseComposition(), Pose3DQuatPDFGaussTests::testPoseComposition(), Pose3DPDFGaussTests::testPoseInverse(), Pose3DPDFGaussTests::testPoseInverseComposition(), Pose3DQuatPDFGaussTests::testPoseInverseComposition(), and Pose3DPDFGaussTests::testToQuatPDFAndBack().

◆ pos_cov

double mrpt::obs::gnss::pos_cov[9] = {0, 0, 0, 0, 0, 0, 0, 0, 0}

Position covariance matrix in local level frame (metres squared) xx,xy,xz,yx,yy,yz,zx,zy,zz.

Definition at line 350 of file gnss_messages_novatel.h.

◆ position_type

nv_oem6_position_type::nv_position_type_t mrpt::obs::gnss::position_type
Initial value:
=
nv_oem6_position_type::NONE
mrpt::obs::gnss::nv_oem6_position_type::NONE
Definition: gnss_messages_novatel.h:90

Definition at line 249 of file gnss_messages_novatel.h.

◆ ref_secs

uint32_t mrpt::obs::gnss::ref_secs = 0

Definition at line 445 of file gnss_messages_novatel.h.

◆ ref_week

uint32_t mrpt::obs::gnss::ref_week = 0

Definition at line 445 of file gnss_messages_novatel.h.

◆ reserved

uint32_t mrpt::obs::gnss::reserved = 0

Definition at line 261 of file gnss_messages_novatel.h.

◆ roll

double mrpt::obs::gnss::roll = 0

Definition at line 306 of file gnss_messages_novatel.h.

Referenced by check_CPose3D_tofrom_ROS(), mrpt::poses::CPose3DPDFGaussian::copyFrom(), generate_points(), Pose3DPDFGaussTests::generateRandomPose3DPDF(), Pose3DQuatPDFGaussTests::generateRandomPose3DPDF(), Pose3DQuatPDFGaussTests::generateRandomPoseQuat3DPDF(), mrpt::poses::CPose3DGridTemplate< double >::getAsMatrix(), mrpt::poses::CPose3DGridTemplate< double >::getByPos(), mrpt::poses::internal::getPoseFromString(), mrpt::poses::CPoseInterpolatorBase< 3 >::impl_interpolation(), mrpt::poses::CPose3DPDF::jacobiansPoseComposition(), mrpt::hwdrivers::CPhidgetInterfaceKitProximitySensors::loadConfig_sensorSpecific(), quat_vs_YPR(), mrpt::opengl::CRenderizable::readFromStreamRender(), mrpt::poses::CPose3DGridTemplate< double >::roll2idx(), mrpt::math::CQuaternion< T >::rpy(), mrpt::math::CQuaternion< T >::rpy_and_jacobian(), Pose3DQuatPDFGaussTests::test_toFromYPRGauss(), Pose3DPDFGaussTests::testAllPoseOperators(), Pose3DQuatPDFGaussTests::testChangeCoordsRef(), Pose3DPDFGaussTests::testChangeCoordsRef(), Pose3DPDFGaussTests::testCompositionJacobian(), Pose3DQuatPDFGaussTests::testCompositionJacobian(), Pose3DQuatPDFGaussTests::testInverse(), Pose3DPDFGaussTests::testPoseComposition(), Pose3DQuatPDFGaussTests::testPoseComposition(), Pose3DPDFGaussTests::testPoseInverse(), Pose3DPDFGaussTests::testPoseInverseComposition(), Pose3DQuatPDFGaussTests::testPoseInverseComposition(), and Pose3DPDFGaussTests::testToQuatPDFAndBack().

◆ rxstat

uint32_t mrpt::obs::gnss::rxstat = 0

Definition at line 408 of file gnss_messages_novatel.h.

◆ rxstat_clear

uint32_t mrpt::obs::gnss::rxstat_clear = 0

Definition at line 408 of file gnss_messages_novatel.h.

◆ rxstat_pri

uint32_t mrpt::obs::gnss::rxstat_pri = 0

Definition at line 408 of file gnss_messages_novatel.h.

◆ rxstat_set

uint32_t mrpt::obs::gnss::rxstat_set = 0

Definition at line 408 of file gnss_messages_novatel.h.

◆ sat_prn

uint32_t mrpt::obs::gnss::sat_prn = 0

Definition at line 445 of file gnss_messages_novatel.h.

◆ seconds_in_week

double mrpt::obs::gnss::seconds_in_week = 0

Definition at line 303 of file gnss_messages_novatel.h.

◆ sol_age

float mrpt::obs::gnss::sol_age = 0

Definition at line 258 of file gnss_messages_novatel.h.

◆ solution_stat

nv_oem6_solution_status::nv_solution_status_t mrpt::obs::gnss::solution_stat
Initial value:
=
nv_oem6_solution_status::INVALID_FIX
mrpt::obs::gnss::nv_oem6_solution_status::INVALID_FIX
the fixed position entered using the fix position command is not valid
Definition: gnss_messages_novatel.h:167

Definition at line 247 of file gnss_messages_novatel.h.

◆ subframe1

uint8_t mrpt::obs::gnss::subframe1[30]

Definition at line 446 of file gnss_messages_novatel.h.

◆ subframe2

uint8_t mrpt::obs::gnss::subframe2[30]

Definition at line 446 of file gnss_messages_novatel.h.

◆ subframe3

uint8_t mrpt::obs::gnss::subframe3[30]

Definition at line 446 of file gnss_messages_novatel.h.

◆ tot

uint32_t mrpt::obs::gnss::tot = 0

Reference time of UTC params.

Definition at line 646 of file gnss_messages_novatel.h.

◆ undulation

float mrpt::obs::gnss::undulation = 0

Definition at line 253 of file gnss_messages_novatel.h.

◆ utc_offset

double mrpt::obs::gnss::utc_offset = 0

Definition at line 588 of file gnss_messages_novatel.h.

Referenced by TIMECONV_GetJulianDateFromGPSTime().

◆ utc_wn

uint32_t mrpt::obs::gnss::utc_wn = 0

UTC reference week number.

Definition at line 644 of file gnss_messages_novatel.h.

◆ vel_cov

double mrpt::obs::gnss::vel_cov[9] = {0, 0, 0, 0, 0, 0, 0, 0, 0}

Velocity covariance matrix in local level frame.

(metres/second squared) xx,xy,xz,yx,yy,yz,zx,zy,zz

Definition at line 356 of file gnss_messages_novatel.h.

◆ vel_east

double mrpt::obs::gnss::vel_east = 0

Definition at line 305 of file gnss_messages_novatel.h.

◆ vel_north

double mrpt::obs::gnss::vel_north = 0

Definition at line 305 of file gnss_messages_novatel.h.

◆ vel_up

double mrpt::obs::gnss::vel_up = 0

Definition at line 305 of file gnss_messages_novatel.h.

◆ week

uint32_t mrpt::obs::gnss::week = 0

Definition at line 302 of file gnss_messages_novatel.h.

◆ week_seconds

double mrpt::obs::gnss::week_seconds = 0

Definition at line 503 of file gnss_messages_novatel.h.

◆ wn_lsf

uint32_t mrpt::obs::gnss::wn_lsf = 0

Future week number.

Definition at line 650 of file gnss_messages_novatel.h.



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