mrpt::obs::CObservationGPS Class Reference

Detailed Description

This class stores messages from GNSS or GNSS+IMU devices, from consumer-grade inexpensive GPS receivers to Novatel/Topcon/...

advanced RTK solutions.

See mrpt::hwdrivers::CGPSInterface for a class capable of reading from a serial port or any input stream and parsing the ASCII/binary stream into indivual messages stored in mrpt::obs::CObservationGPS objects.

Supported message types are:

• NMEA 0183 (ASCII): GGA, RMC
• Topcon GRIL (Binary): PZS, SATS
• Novatel GNSS/SPAN OEM6 (Binary): See list of log packets under namespace mrpt::obs::gnss and in enum type mrpt::obs::gnss::gnss_message_type_t

Note that this object has two timestamp fields:

• The standard CObservation::timestamp field in the base class, which should contain the accurate satellite-based UTC timestamp, and
• the field CObservationGPS::originalReceivedTimestamp, with the local computer-based timestamp based on the reception of the message in the computer.

Normally, users read and write messages by means of these methods:

• CObservationGPS::getMsgByClass()
• CObservationGPS::setMsg()
• CObservationGPS::hasMsgType()
• CObservationGPS::hasMsgClass()

Example access to GPS datum:

mrpt::obs::CObservationGPS obs;
//...
if (obs.hasMsgClass<mrpt::obs::gnss::Message_NMEA_GGA>()) {
  const mrpt::obs::gnss::Message_NMEA_GGA &gga =
o.getMsgByClass<mrpt::obs::gnss::Message_NMEA_GGA>();
  //gga.fields.XXX ...
}

Note

[API changed in MRPT 1.4.0] mrpt::obs::CObservationGPS now stores message objects in a more flexible way. API clean-up and extended so the number of GNSS message types is larger and more scalable.

Porting old code: For example, replace observation.GGA_datum.XXX with observation.getMsgByClass<gnss::Message_NMEA_GGA>().fields.XXX, etc.

See also

CObservation

Definition at line 69 of file CObservationGPS.h.

#include <mrpt/obs/CObservationGPS.h>

Inheritance diagram for mrpt::obs::CObservationGPS:

Classes
struct	internal_msg_test_proxy
	Proxy class for type-based testing existence of data inside CObservationGPS::messages. More...

Public Types
typedef std::map< gnss::gnss_message_type_t, gnss::gnss_message_ptr >	message_list_t

Public Member Functions
void *	operator new (size_t size)
void *	operator new[] (size_t size)
void	operator delete (void *ptr) noexcept
void	operator delete[] (void *ptr) noexcept
void	operator delete (void *memory, void *ptr) noexcept
void *	operator new (size_t size, const std::nothrow_t &) noexcept
void	operator delete (void *ptr, const std::nothrow_t &) noexcept
	CObservationGPS ()
	ctor More...
template<class METRICMAP >
bool	insertObservationInto (METRICMAP *theMap, const mrpt::poses::CPose3D *robotPose=nullptr) 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 mxArray *	writeToMatlab () 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...
Main API to access to the data fields
template<class MSG_CLASS >
void	setMsg (const MSG_CLASS &msg)
	Stores a message in the list messages, making a copy of the passed object. More...
bool	hasMsgType (const gnss::gnss_message_type_t type_id) const
	Returns true if the list CObservationGPS::messages contains one of the requested type. More...
template<class MSG_CLASS >
bool	hasMsgClass () const
	Like hasMsgType() but allows querying for message classes, from any of those derived from mrpt::obs::gnss::gnss_message. More...
mrpt::obs::gnss::gnss_message *	getMsgByType (const gnss::gnss_message_type_t type_id)
	Returns a pointer to the message in the list CObservationGPS::messages of the requested type. More...
const mrpt::obs::gnss::gnss_message *	getMsgByType (const gnss::gnss_message_type_t type_id) const
template<class MSG_CLASS >
MSG_CLASS &	getMsgByClass ()
	Returns a reference to the message in the list CObservationGPS::messages of the requested class. More...
template<class MSG_CLASS >
const MSG_CLASS &	getMsgByClass () const
template<class MSG_CLASS >
MSG_CLASS *	getMsgByClassPtr ()
	Like CObservationGPS::getMsgByClass() but returns a nullptr pointer if message is not found, instead of launching an exception. More...
template<class MSG_CLASS >
const MSG_CLASS *	getMsgByClassPtr () const
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 an std::ostream (default=console) More...
void	clear ()
	Empties this observation, clearing the container messages. More...
void	swap (CObservationGPS &o)
void	getSensorPose (mrpt::poses::CPose3D &out_sensorPose) const override
	A general method to retrieve the sensor pose on the robot. More...
void	setSensorPose (const mrpt::poses::CPose3D &newSensorPose) override
	A general method to change the sensor pose on the robot. More...
void	getDescriptionAsText (std::ostream &o) const override
	Build a detailed, multi-line textual description of the observation contents and dump it to the output stream. More...
mrpt::system::TTimeStamp	getOriginalReceivedTimeStamp () const override
	By default, returns CObservation::timestamp but in sensors capable of satellite (or otherwise) accurate UTC timing of readings, this contains the computer-based timestamp of reception, which may be slightly different than timestamp. 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...
RTTI classes and functions
mrpt::utils::CObject::Ptr	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...

Static Public Member Functions
static void *	operator new (size_t size, void *ptr)
Utilities
static bool	GPS_time_to_UTC (uint16_t gps_week, double gps_sec, const int leap_seconds_count, mrpt::system::TTimeStamp &utc_out)
static bool	GPS_time_to_UTC (uint16_t gps_week, double gps_sec, const int leap_seconds_count, mrpt::system::TTimeParts &utc_out)

Public Attributes
GNSS (GPS) data fields
mrpt::poses::CPose3D	sensorPose
	The sensor pose on the robot/vehicle. More...
mrpt::system::TTimeStamp	originalReceivedTimestamp
	The local computer-based timestamp based on the reception of the message in the computer. More...
bool	has_satellite_timestamp
	If true, CObservation::timestamp has been generated from accurate satellite clock. More...
message_list_t	messages
	The main piece of data in this class: a list of GNNS messages. More...

Protected Member Functions
void	swap (CObservation &o)
	Swap with another observation, ONLY the data defined here in the base class CObservation. More...
CSerializable virtual methods
void	writeToStream (mrpt::utils::CStream &out, int *getVersion) const override
	Introduces a pure virtual method responsible for writing to a CStream. More...
void	readFromStream (mrpt::utils::CStream &in, int version) override
	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...

Data common to any observation
mrpt::system::TTimeStamp	timestamp
	The associated UTC time-stamp. More...
std::string	sensorLabel
	An arbitrary label that can be used to identify the sensor. More...
mrpt::system::TTimeStamp	getTimeStamp () const
	Returns CObservation::timestamp for all kind of observations. More...

RTTI stuff
using	Ptr = std::shared_ptr< CObservationGPS >
using	ConstPtr = std::shared_ptr< const CObservationGPS >
static mrpt::utils::CLASSINIT	_init_CObservationGPS
static const mrpt::utils::TRuntimeClassId	runtimeClassId
static constexpr const char *	className = "CObservationGPS"
static const mrpt::utils::TRuntimeClassId *	_GetBaseClass ()
static const mrpt::utils::TRuntimeClassId &	GetRuntimeClassIdStatic ()
static mrpt::utils::CObject *	CreateObject ()
template<typename... Args>
static Ptr	Create (Args &&... args)
virtual const mrpt::utils::TRuntimeClassId *	GetRuntimeClass () const override
	Returns information about the class of an object in runtime. More...
virtual mrpt::utils::CObject *	clone () const override
	Returns a deep copy (clone) of the object, indepently of its class. More...

Deprecated, backwards compatible (MRPT <1.4.0) data and types
typedef gnss::UTC_time	TUTCTime
	Deprecated, kept for backwards compatibility. More...
typedef gnss::Message_TOPCON_PZS	TGPSDatum_PZS
	Deprecated, kept for backwards compatibility. More...
typedef gnss::Message_TOPCON_SATS	TGPSDatum_SATS
	Deprecated, kept for backwards compatibility. More...
typedef gnss::Message_NMEA_GGA	TGPSDatum_GGA
	Deprecated, kept for backwards compatibility. More...
typedef gnss::Message_NMEA_RMC	TGPSDatum_RMC
	Deprecated, kept for backwards compatibility. More...
internal_msg_test_proxy< gnss::NMEA_GGA >	has_GGA_datum
	Evaluates as a bool; true if the corresponding field exists in messages. More...
internal_msg_test_proxy< gnss::NMEA_RMC >	has_RMC_datum
	Evaluates as a bool; true if the corresponding field exists in messages. More...
internal_msg_test_proxy< gnss::TOPCON_PZS >	has_PZS_datum
	Evaluates as a bool; true if the corresponding field exists in messages. More...
internal_msg_test_proxy< gnss::TOPCON_SATS >	has_SATS_datum
	Evaluates as a bool; true if the corresponding field exists in messages. More...

Member Typedef Documentation

ConstPtr

using mrpt::obs::CObservationGPS::ConstPtr = std::shared_ptr<const CObservationGPS >

Definition at line 71 of file CObservationGPS.h.

message_list_t

typedef std::map<gnss::gnss_message_type_t, gnss::gnss_message_ptr> mrpt::obs::CObservationGPS::message_list_t

Definition at line 75 of file CObservationGPS.h.

Ptr

using mrpt::obs::CObservationGPS::Ptr = std::shared_ptr< CObservationGPS >

A typedef for the associated smart pointer

Definition at line 71 of file CObservationGPS.h.

TGPSDatum_GGA

typedef gnss::Message_NMEA_GGA mrpt::obs::CObservationGPS::TGPSDatum_GGA

Deprecated, kept for backwards compatibility.

Definition at line 232 of file CObservationGPS.h.

TGPSDatum_PZS

typedef gnss::Message_TOPCON_PZS mrpt::obs::CObservationGPS::TGPSDatum_PZS

Deprecated, kept for backwards compatibility.

Definition at line 228 of file CObservationGPS.h.

TGPSDatum_RMC

typedef gnss::Message_NMEA_RMC mrpt::obs::CObservationGPS::TGPSDatum_RMC

Deprecated, kept for backwards compatibility.

Definition at line 234 of file CObservationGPS.h.

TGPSDatum_SATS

typedef gnss::Message_TOPCON_SATS mrpt::obs::CObservationGPS::TGPSDatum_SATS

Deprecated, kept for backwards compatibility.

Definition at line 230 of file CObservationGPS.h.

TUTCTime

typedef gnss::UTC_time mrpt::obs::CObservationGPS::TUTCTime

Deprecated, kept for backwards compatibility.

Definition at line 226 of file CObservationGPS.h.

Constructor & Destructor Documentation

CObservationGPS()

CObservationGPS::CObservationGPS

(

)

ctor

Definition at line 27 of file CObservationGPS.cpp.

Member Function Documentation

_GetBaseClass()

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

staticprotected

clear()

void CObservationGPS::clear

(

)

Empties this observation, clearing the container messages.

Definition at line 310 of file CObservationGPS.cpp.

References INVALID_TIMESTAMP.

Referenced by mrpt::hwdrivers::CGPSInterface::flushParsedMessagesNow(), and mrpt::hwdrivers::CGPSInterface::OnConnectionEstablished().

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clone()

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

overridevirtual

Returns a deep copy (clone) of the object, indepently of its class.

Implements mrpt::utils::CObject.

Create()

template<typename... Args>

static Ptr mrpt::obs::CObservationGPS::Create ( Args &&...  args )

inlinestatic

Definition at line 71 of file CObservationGPS.h.

CreateObject()

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

static

dumpToConsole()

void CObservationGPS::dumpToConsole

(

std::ostream &

o = std::cout

)

const

Dumps the contents of the observation in a human-readable form to an std::ostream (default=console)

Definition at line 293 of file CObservationGPS.cpp.

References mrpt::utils::CMemoryStream::getRawBufferData(), and mrpt::utils::CMemoryStream::getTotalBytesCount().

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dumpToStream()

void 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()

Definition at line 279 of file CObservationGPS.cpp.

References mrpt::utils::CStream::printf().

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getDescriptionAsText()

void CObservationGPS::getDescriptionAsText ( std::ostream &  o ) const

overridevirtual

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.

Definition at line 316 of file CObservationGPS.cpp.

References mrpt::system::dateTimeToString(), and mrpt::system::timestampTotime_t().

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getMsgByClass() [1/2]

template<class MSG_CLASS >

MSG_CLASS& mrpt::obs::CObservationGPS::getMsgByClass ( )

inline

Returns a reference to the message in the list CObservationGPS::messages of the requested class.

Exceptions

std::runtime_error

If there is no such a message in the list. Please, check existence before calling this method with CObservationGPS::hasMsgClass()

See also

mrpt::obs::gnss::gnss_message_type_t, CObservationGPS::getMsgByType(), CObservationGPS::hasMsgType()

Definition at line 149 of file CObservationGPS.h.

References ASSERT_, ASSERTMSG_, mrpt::mrpt::format(), and messages.

Referenced by mrpt::maps::CLandmarksMap::internal_computeObservationLikelihood().

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getMsgByClass() [2/2]

template<class MSG_CLASS >

const MSG_CLASS& mrpt::obs::CObservationGPS::getMsgByClass ( ) const

inline

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 163 of file CObservationGPS.h.

References ASSERT_, ASSERTMSG_, mrpt::mrpt::format(), and messages.

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getMsgByClassPtr() [1/2]

template<class MSG_CLASS >

MSG_CLASS* mrpt::obs::CObservationGPS::getMsgByClassPtr ( )

inline

Like CObservationGPS::getMsgByClass() but returns a nullptr pointer if message is not found, instead of launching an exception.

Definition at line 179 of file CObservationGPS.h.

References messages.

Referenced by TEST().

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getMsgByClassPtr() [2/2]

template<class MSG_CLASS >

const MSG_CLASS* mrpt::obs::CObservationGPS::getMsgByClassPtr ( ) const

inline

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 189 of file CObservationGPS.h.

References messages.

getMsgByType() [1/2]

mrpt::obs::gnss::gnss_message * CObservationGPS::getMsgByType

(

const gnss::gnss_message_type_t

type_id

)

Returns a pointer to the message in the list CObservationGPS::messages of the requested type.

Users normally would prefer using CObservationGPS::getMsgByClass() to avoid having to perform a dynamic_cast<>() on the returned pointer.

Exceptions

std::runtime_error

If there is no such a message in the list. Please, check existence before calling this method with CObservationGPS::hasMsgType()

See also

mrpt::obs::gnss::gnss_message_type_t, CObservationGPS::getMsgByClass(), CObservationGPS::hasMsgType()

Definition at line 337 of file CObservationGPS.cpp.

References ASSERTMSG_, and mrpt::format().

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getMsgByType() [2/2]

const mrpt::obs::gnss::gnss_message * CObservationGPS::getMsgByType

(

const gnss::gnss_message_type_t

type_id

)

const

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 349 of file CObservationGPS.cpp.

References ASSERTMSG_, and mrpt::format().

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getOriginalReceivedTimeStamp()

mrpt::system::TTimeStamp CObservationGPS::getOriginalReceivedTimeStamp ( ) const

overridevirtual

By default, returns CObservation::timestamp but in sensors capable of satellite (or otherwise) accurate UTC timing of readings, this contains the computer-based timestamp of reception, which may be slightly different than timestamp.

See also

getTimeStamp()

Reimplemented from mrpt::obs::CObservation.

Definition at line 305 of file CObservationGPS.cpp.

GetRuntimeClass()

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

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::obs::CObservation.

GetRuntimeClassIdStatic()

static const mrpt::utils::TRuntimeClassId& mrpt::obs::CObservationGPS::GetRuntimeClassIdStatic ( )

static

getSensorPose() [1/2]

void 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

Definition at line 31 of file CObservation.cpp.

getSensorPose() [2/2]

void mrpt::obs::CObservationGPS::getSensorPose ( mrpt::poses::CPose3D &  out_sensorPose ) const

inlineoverridevirtual

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 208 of file CObservationGPS.h.

References sensorPose.

getTimeStamp()

mrpt::system::TTimeStamp mrpt::obs::CObservation::getTimeStamp ( ) const

inlineinherited

Returns CObservation::timestamp for all kind of observations.

See also

getOriginalReceivedTimeStamp()

Definition at line 64 of file CObservation.h.

References mrpt::obs::CObservation::timestamp.

GPS_time_to_UTC() [1/2]

bool CObservationGPS::GPS_time_to_UTC ( uint16_t  gps_week, double  gps_sec, const int  leap_seconds_count, mrpt::system::TTimeStamp &  utc_out  )

static

Parameters

[in]	leap_seconds_count	GPS to UTC time number of leap seconds (normally grabbed from satellital live data)
	utc_out	Return false on invalid input data [out] UTC timestamp

Definition at line 532 of file CObservationGPS.cpp.

References mrpt::system::buildTimestampFromParts().

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GPS_time_to_UTC() [2/2]

bool CObservationGPS::GPS_time_to_UTC ( uint16_t  gps_week, double  gps_sec, const int  leap_seconds_count, mrpt::system::TTimeParts &  utc_out  )

static

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 543 of file CObservationGPS.cpp.

References TIMECONV_GetJulianDateFromGPSTime(), and TIMECONV_GetUTCTimeFromJulianDate().

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hasMsgClass()

template<class MSG_CLASS >

bool mrpt::obs::CObservationGPS::hasMsgClass ( ) const

inline

Like hasMsgType() but allows querying for message classes, from any of those derived from mrpt::obs::gnss::gnss_message.

See also

CObservationGPS::hasMsgType(),

Definition at line 121 of file CObservationGPS.h.

References hasMsgType().

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hasMsgType()

bool CObservationGPS::hasMsgType

(

const gnss::gnss_message_type_t

type_id

)

const

Returns true if the list CObservationGPS::messages contains one of the requested type.

See also

mrpt::obs::gnss::gnss_message_type_t, CObservationGPS::getMsgByType()

Definition at line 332 of file CObservationGPS.cpp.

Referenced by hasMsgClass().

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insertObservationInto()

template<class METRICMAP >

bool mrpt::obs::CObservation::insertObservationInto ( METRICMAP *  theMap, const mrpt::poses::CPose3D *  robotPose = nullptr  ) const

inlineinherited

This method is equivalent to:

map->insertObservation(this, robotPose)

Parameters

theMap	The map where this observation is to be inserted: the map will be updated.
robotPose	The pose of the robot base for this observation, relative to the target metric map. Set to nullptr (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: Maps and observations compatibility matrix

See also

CMetricMap, CMetricMap::insertObservation

Definition at line 96 of file CObservation.h.

Referenced by mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_CellsDifference().

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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 151 of file CObservation.h.

operator delete() [1/3]

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

inlinenoexcept

Definition at line 71 of file CObservationGPS.h.

operator delete() [2/3]

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

inlinenoexcept

Definition at line 71 of file CObservationGPS.h.

operator delete() [3/3]

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

inlinenoexcept

Definition at line 71 of file CObservationGPS.h.

operator delete[]()

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

inlinenoexcept

Definition at line 71 of file CObservationGPS.h.

operator new() [1/3]

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

inlinestatic

Definition at line 71 of file CObservationGPS.h.

operator new() [2/3]

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

inlinenoexcept

Definition at line 71 of file CObservationGPS.h.

operator new() [3/3]

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

inline

Definition at line 71 of file CObservationGPS.h.

operator new[]()

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

inline

Definition at line 71 of file CObservationGPS.h.

readFromStream()

void CObservationGPS::readFromStream ( mrpt::utils::CStream &  in, int  version  )

overrideprotectedvirtual

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

in	The input binary stream where the object data must read from.
version	The 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::exception

On any error, see CStream::ReadBuffer

See also

CStream

Implements mrpt::utils::CSerializable.

Definition at line 74 of file CObservationGPS.cpp.

References mrpt::obs::gnss::Message_NMEA_GGA::content_t::altitude_meters, mrpt::obs::gnss::Message_TOPCON_PZS::angle_transmitter, mrpt::obs::gnss::Message_TOPCON_SATS::AZs, mrpt::obs::gnss::Message_TOPCON_PZS::cartesian_vx, mrpt::obs::gnss::Message_TOPCON_PZS::cartesian_vy, mrpt::obs::gnss::Message_TOPCON_PZS::cartesian_vz, mrpt::obs::gnss::Message_TOPCON_PZS::cartesian_x, mrpt::obs::gnss::Message_TOPCON_PZS::cartesian_y, mrpt::obs::gnss::Message_TOPCON_PZS::cartesian_z, mrpt::utils::clear(), mrpt::obs::gnss::Message_NMEA_GGA::content_t::corrected_orthometric_altitude, mrpt::obs::gnss::Message_NMEA_RMC::content_t::direction_degrees, mrpt::obs::gnss::Message_TOPCON_SATS::ELs, mrpt::obs::gnss::Message_TOPCON_PZS::error, mrpt::obs::gnss::Message_NMEA_GGA::fields, mrpt::obs::gnss::Message_NMEA_RMC::fields, mrpt::obs::gnss::Message_TOPCON_PZS::Fix, mrpt::obs::gnss::Message_NMEA_GGA::content_t::fix_quality, mrpt::obs::gnss::Message_NMEA_GGA::content_t::geoidal_distance, mrpt::obs::gnss::Message_TOPCON_PZS::hasCartesianPosVel, mrpt::obs::gnss::Message_TOPCON_PZS::hasPosCov, mrpt::obs::gnss::Message_TOPCON_PZS::hasStats, mrpt::obs::gnss::Message_TOPCON_PZS::hasVelCov, mrpt::obs::gnss::Message_NMEA_GGA::content_t::HDOP, mrpt::obs::gnss::Message_TOPCON_PZS::height_meters, mrpt::obs::gnss::UTC_time::hour, INVALID_TIMESTAMP, mrpt::obs::gnss::Message_TOPCON_PZS::latitude_degrees, mrpt::obs::gnss::Message_NMEA_GGA::content_t::latitude_degrees, mrpt::obs::gnss::Message_NMEA_RMC::content_t::latitude_degrees, mrpt::obs::gnss::Message_TOPCON_PZS::longitude_degrees, mrpt::obs::gnss::Message_NMEA_GGA::content_t::longitude_degrees, mrpt::obs::gnss::Message_NMEA_RMC::content_t::longitude_degrees, mrpt::obs::gnss::gnss_message::message_type, mrpt::obs::gnss::UTC_time::minute, MRPT_READ_POD, MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, mrpt::obs::gnss::Message_TOPCON_PZS::nId, mrpt::obs::gnss::NMEA_GGA, mrpt::obs::gnss::NMEA_RMC, mrpt::obs::gnss::Message_NMEA_GGA::content_t::orthometric_altitude, mrpt::obs::gnss::Message_TOPCON_PZS::pos_covariance, mrpt::obs::gnss::Message_TOPCON_PZS::PSigma, mrpt::obs::gnss::Message_TOPCON_PZS::RTK_height_meters, mrpt::obs::gnss::Message_TOPCON_PZS::RXBattery, mrpt::obs::gnss::Message_NMEA_GGA::content_t::satellitesUsed, mrpt::obs::gnss::UTC_time::sec, mrpt::obs::gnss::Message_NMEA_RMC::content_t::speed_knots, mrpt::obs::gnss::Message_TOPCON_PZS::stats_GLONASS_sats_used, mrpt::obs::gnss::Message_TOPCON_PZS::stats_GPS_sats_used, mrpt::obs::gnss::Message_TOPCON_PZS::stats_rtk_fix_progress, mrpt::obs::gnss::Message_NMEA_GGA::content_t::thereis_HDOP, mrpt::obs::gnss::TOPCON_PZS, mrpt::obs::gnss::TOPCON_SATS, mrpt::obs::gnss::Message_TOPCON_PZS::TXBattery, mrpt::obs::gnss::Message_TOPCON_SATS::USIs, mrpt::obs::gnss::Message_NMEA_GGA::content_t::UTCTime, mrpt::obs::gnss::Message_NMEA_RMC::content_t::UTCTime, mrpt::obs::gnss::Message_NMEA_RMC::content_t::validity_char, and mrpt::obs::gnss::Message_TOPCON_PZS::vel_covariance.

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setMsg()

template<class MSG_CLASS >

void mrpt::obs::CObservationGPS::setMsg ( const MSG_CLASS &  msg )

inline

Stores a message in the list messages, making a copy of the passed object.

Valid message classes are those derived from mrpt::obs::gnss::gnss_message. If another message of the same type exists, it is overwritten.

Definition at line 108 of file CObservationGPS.h.

References messages.

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

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setSensorPose() [1/2]

void 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

Definition at line 38 of file CObservation.cpp.

setSensorPose() [2/2]

void mrpt::obs::CObservationGPS::setSensorPose ( const mrpt::poses::CPose3D &  newSensorPose )

inlineoverridevirtual

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 212 of file CObservationGPS.h.

References sensorPose.

swap() [1/2]

void 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.

Definition at line 43 of file CObservation.cpp.

References mrpt::obs::CObservation::sensorLabel, and mrpt::obs::CObservation::timestamp.

Referenced by mrpt::obs::CObservationStereoImages::swap(), and mrpt::obs::CObservation3DRangeScan::swap().

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swap() [2/2]

void CObservationGPS::swap

(

CObservationGPS &

o

)

Definition at line 39 of file CObservationGPS.cpp.

References has_satellite_timestamp, messages, originalReceivedTimestamp, mrpt::obs::CObservation::sensorLabel, sensorPose, and mrpt::obs::CObservation::timestamp.

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

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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 156 of file CObservation.h.

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 nullptr is class does not support conversion to MATLAB.

Definition at line 89 of file CSerializable.h.

writeToStream()

void CObservationGPS::writeToStream ( mrpt::utils::CStream &  out, int *  getVersion  ) const

overrideprotectedvirtual

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

out	The output binary stream where object must be dumped.
getVersion	If nullptr, 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::exception

On any error, see CStream::WriteBuffer

See also

CStream

Implements mrpt::utils::CSerializable.

Definition at line 52 of file CObservationGPS.cpp.

Member Data Documentation

_init_CObservationGPS

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

staticprotected

Definition at line 71 of file CObservationGPS.h.

className

constexpr const char* mrpt::obs::CObservationGPS::className = "CObservationGPS"

static

Definition at line 71 of file CObservationGPS.h.

has_GGA_datum

internal_msg_test_proxy<gnss::NMEA_GGA> mrpt::obs::CObservationGPS::has_GGA_datum

Evaluates as a bool; true if the corresponding field exists in messages.

Definition at line 256 of file CObservationGPS.h.

Referenced by mrpt::hwdrivers::CGPSInterface::doProcess(), and mrpt::maps::CLandmarksMap::internal_computeObservationLikelihood().

has_PZS_datum

internal_msg_test_proxy<gnss::TOPCON_PZS> mrpt::obs::CObservationGPS::has_PZS_datum

Evaluates as a bool; true if the corresponding field exists in messages.

Definition at line 262 of file CObservationGPS.h.

has_RMC_datum

internal_msg_test_proxy<gnss::NMEA_RMC> mrpt::obs::CObservationGPS::has_RMC_datum

Evaluates as a bool; true if the corresponding field exists in messages.

Definition at line 259 of file CObservationGPS.h.

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

has_satellite_timestamp

bool mrpt::obs::CObservationGPS::has_satellite_timestamp

If true, CObservation::timestamp has been generated from accurate satellite clock.

Otherwise, no GPS data is available and timestamps are based on the local computer clock.

Definition at line 91 of file CObservationGPS.h.

Referenced by mrpt::hwdrivers::CGPSInterface::parse_NMEA(), and swap().

has_SATS_datum

internal_msg_test_proxy<gnss::TOPCON_SATS> mrpt::obs::CObservationGPS::has_SATS_datum

Evaluates as a bool; true if the corresponding field exists in messages.

Definition at line 265 of file CObservationGPS.h.

messages

message_list_t mrpt::obs::CObservationGPS::messages

The main piece of data in this class: a list of GNNS messages.

Normally users might prefer to access the list via the methods CObservationGPS::getMsgByClass() and CObservationGPS::setMsg() Typically only one message, may be multiple if all have the same timestamp.

Definition at line 97 of file CObservationGPS.h.

Referenced by getMsgByClass(), getMsgByClassPtr(), mrpt::hwdrivers::CGPSInterface::parseBuffer(), setMsg(), and swap().

originalReceivedTimestamp

mrpt::system::TTimeStamp mrpt::obs::CObservationGPS::originalReceivedTimestamp

The local computer-based timestamp based on the reception of the message in the computer.

See also

CObservation::timestamp in the base class, which should contain the accurate satellite-based UTC timestamp.

Definition at line 87 of file CObservationGPS.h.

Referenced by mrpt::hwdrivers::CGPSInterface::parse_NMEA(), and swap().

runtimeClassId

const mrpt::utils::TRuntimeClassId mrpt::obs::CObservationGPS::runtimeClassId

staticprotected

Definition at line 71 of file CObservationGPS.h.

sensorLabel

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

inherited

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

Definition at line 60 of file CObservation.h.

Referenced by mrpt::obs::CObservation3DRangeScan::convertTo2DScan(), mrpt::hwdrivers::CLMS100Eth::decodeScan(), mrpt::hwdrivers::CRaePID::doProcess(), mrpt::hwdrivers::CRoboPeakLidar::doProcessSimple(), mrpt::hwdrivers::CSickLaserUSB::doProcessSimple(), mrpt::hwdrivers::CCANBusReader::doProcessSimple(), mrpt::hwdrivers::CHokuyoURG::doProcessSimple(), mrpt::hwdrivers::CSickLaserSerial::doProcessSimple(), mrpt::hwdrivers::CGPSInterface::flushParsedMessagesNow(), mrpt::hwdrivers::CRaePID::getFullInfo(), mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), mrpt::hwdrivers::COpenNI2Sensor::getNextObservation(), mrpt::hwdrivers::CKinect::getNextObservation(), mrpt::hwdrivers::CBoardSonars::getObservation(), mrpt::hwdrivers::CWirelessPower::getObservation(), mrpt::hwdrivers::CImpinjRFID::getObservation(), mrpt::hwdrivers::CEnoseModular::getObservation(), mrpt::hwdrivers::CBoardENoses::getObservation(), mrpt::hwdrivers::CPhidgetInterfaceKitProximitySensors::getObservation(), mrpt::hwdrivers::CNationalInstrumentsDAQ::grabbing_thread(), mrpt::maps::CGasConcentrationGridMap2D::internal_insertObservation(), mrpt::obs::CObservation6DFeatures::readFromStream(), mrpt::obs::CObservationStereoImagesFeatures::readFromStream(), mrpt::obs::CObservationStereoImages::readFromStream(), mrpt::obs::CObservation2DRangeScan::readFromStream(), mrpt::obs::CObservationVelodyneScan::readFromStream(), mrpt::obs::CObservation3DRangeScan::readFromStream(), mrpt::obs::CObservation::swap(), swap(), mrpt::obs::CObservation6DFeatures::writeToStream(), mrpt::obs::CObservationStereoImagesFeatures::writeToStream(), mrpt::obs::CObservationStereoImages::writeToStream(), mrpt::obs::CObservation2DRangeScan::writeToStream(), mrpt::obs::CObservationVelodyneScan::writeToStream(), and mrpt::obs::CObservation3DRangeScan::writeToStream().

sensorPose

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

The sensor pose on the robot/vehicle.

Definition at line 83 of file CObservationGPS.h.

Referenced by mrpt::hwdrivers::CGPSInterface::flushParsedMessagesNow(), getSensorPose(), setSensorPose(), and swap().

timestamp

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

inherited

The associated UTC time-stamp.

Where available, this should contain the accurate satellite-based timestamp of the sensor reading.

See also

getOriginalReceivedTimeStamp(), getTimeStamp()

Definition at line 58 of file CObservation.h.

Referenced by mrpt::obs::CObservationVelodyneScan::TPointCloud::clear_deep(), mrpt::obs::CObservation3DRangeScan::convertTo2DScan(), mrpt::hwdrivers::CLMS100Eth::decodeScan(), mrpt::detectors::CObjectDetection::detectObjects(), mrpt::hwdrivers::CRaePID::doProcess(), mrpt::hwdrivers::CGPSInterface::doProcess(), mrpt::hwdrivers::CRoboPeakLidar::doProcessSimple(), mrpt::hwdrivers::CSickLaserUSB::doProcessSimple(), mrpt::hwdrivers::CCANBusReader::doProcessSimple(), mrpt::hwdrivers::CHokuyoURG::doProcessSimple(), mrpt::hwdrivers::CSickLaserSerial::doProcessSimple(), mrpt::obs::CRawlog::findObservationsByClassInRange(), mrpt::hwdrivers::CGPSInterface::flushParsedMessagesNow(), mrpt::obs::CObservationGasSensors::CMOSmodel::get_GasDistribution_estimation(), mrpt::hwdrivers::CRaePID::getFullInfo(), mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), mrpt::hwdrivers::COpenNI2_RGBD360::getNextObservation(), mrpt::hwdrivers::CKinect::getNextObservation(), mrpt::hwdrivers::CBoardSonars::getObservation(), mrpt::hwdrivers::CWirelessPower::getObservation(), mrpt::hwdrivers::CEnoseModular::getObservation(), mrpt::hwdrivers::CImageGrabber_OpenCV::getObservation(), mrpt::hwdrivers::CBoardENoses::getObservation(), mrpt::hwdrivers::CPhidgetInterfaceKitProximitySensors::getObservation(), mrpt::hwdrivers::CImageGrabber_dc1394::getObservation(), mrpt::hwdrivers::CImageGrabber_FlyCapture2::getObservation(), mrpt::hwdrivers::CDUO3DCamera::getObservations(), mrpt::obs::CObservation::getOriginalReceivedTimeStamp(), mrpt::obs::CObservation::getTimeStamp(), mrpt::hwdrivers::CNationalInstrumentsDAQ::grabbing_thread(), mrpt::obs::CObservationGasSensors::CMOSmodel::inverse_MOSmodeling(), mrpt::maps::CLandmarksMap::loadOccupancyFeaturesFrom2DRangeScan(), mrpt::maps::CLandmarksMap::loadSiftFeaturesFromImageObservation(), mrpt::maps::CLandmarksMap::loadSiftFeaturesFromStereoImageObservation(), mrpt::obs::CObservationGasSensors::CMOSmodel::noise_filtering(), mrpt::hwdrivers::CGPSInterface::parse_NMEA(), mrpt::obs::CObservation6DFeatures::readFromStream(), mrpt::obs::CObservationStereoImagesFeatures::readFromStream(), mrpt::obs::CObservationStereoImages::readFromStream(), mrpt::obs::CObservation2DRangeScan::readFromStream(), mrpt::obs::CObservationVelodyneScan::readFromStream(), mrpt::obs::CObservation3DRangeScan::readFromStream(), mrpt::obs::CObservationGasSensors::CMOSmodel::save_log_map(), mrpt::maps::CLandmarksMap::simulateBeaconReadings(), mrpt::maps::CLandmarksMap::simulateRangeBearingReadings(), mrpt::obs::CObservation::swap(), swap(), velodyne_scan_to_pointcloud(), mrpt::obs::CObservation6DFeatures::writeToStream(), mrpt::obs::CObservationStereoImagesFeatures::writeToStream(), mrpt::obs::CObservationStereoImages::writeToStream(), mrpt::obs::CObservation2DRangeScan::writeToStream(), mrpt::obs::CObservationVelodyneScan::writeToStream(), and mrpt::obs::CObservation3DRangeScan::writeToStream().