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_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

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

double	lon

double	hgt

float	undulation

uint32_t	datum_id

float	lat_sigma
	Uncertainties (all in [m]) More...

float	lon_sigma

float	hgt_sigma

char	base_station_id [4]

float	diff_age

float	sol_age

uint8_t	num_sats_tracked

uint8_t	num_sats_sol

uint8_t	num_sats_sol_L1

uint8_t	num_sats_sol_multi

uint8_t	reserved

uint8_t	ext_sol_stat

uint8_t	galileo_beidou_mask

uint8_t	gps_glonass_mask

uint32_t	crc

uint32_t	week

double	seconds_in_week

double	vel_north

double	vel_east

double	vel_up

double	roll

double	pitch

double	azimuth

nv_oem6_ins_status_type::nv_ins_status_type_t	ins_status

double	pos_cov [9]
	Position covariance matrix in local level frame (metres squared) xx,xy,xz,yx,yy,yz,zx,zy,zz. More...

double	att_cov [9]
	Attitude covariance matrix of the SPAN frame to the local level frame. More...

double	vel_cov [9]
	Velocity covariance matrix in local level frame. More...

uint32_t	error

uint32_t	num_stats

uint32_t	rxstat

uint32_t	rxstat_pri

uint32_t	rxstat_set

uint32_t	rxstat_clear

uint32_t	aux1stat

uint32_t	aux1stat_pri

uint32_t	aux1stat_set

uint32_t	aux1stat_clear

uint32_t	aux2stat

uint32_t	aux2stat_pri

uint32_t	aux2stat_set

uint32_t	aux2stat_clear

uint32_t	aux3stat

uint32_t	aux3stat_pri

uint32_t	aux3stat_set

uint32_t	aux3stat_clear

uint32_t	sat_prn

uint32_t	ref_week

uint32_t	ref_secs

uint8_t	subframe1 [30]

uint8_t	subframe2 [30]

uint8_t	subframe3 [30]

double	week_seconds

uint32_t	imu_status

int32_t	accel_z

int32_t	accel_y_neg

int32_t	accel_x

int32_t	gyro_z

int32_t	gyro_y_neg

int32_t	gyro_x

double	clock_offset

double	clock_offset_std

double	utc_offset

uint32_t	clock_status

double	a0

double	a1

double	a2

double	a3

double	b0

double	b1

double	b2

double	b3

uint32_t	utc_wn
	UTC reference week number. More...

uint32_t	tot
	Reference time of UTC params. More...

double	A0
	UTC constant and 1st order terms. More...

double	A1

uint32_t	wn_lsf
	Future week number. More...

uint32_t	dn
	Day number (1=sunday, 7=saturday) More...

uint32_t	deltat_ls
	Delta time due to leap seconds. More...

uint32_t	deltat_lsf
	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 26 of file gnss_messages_type_list.h.

Function Documentation

◆ getAllFieldDescriptions()

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

override

◆ getAllFieldValues()

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

override

◆ 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 248 of file gnss_messages_novatel.h.

Variable Documentation

◆ a0

double mrpt::obs::gnss::a0

Definition at line 454 of file gnss_messages_novatel.h.

◆ A0

double mrpt::obs::gnss::A0

UTC constant and 1st order terms.

Definition at line 461 of file gnss_messages_novatel.h.

◆ a1

double mrpt::obs::gnss::a1

Definition at line 454 of file gnss_messages_novatel.h.

Referenced by mrpt::poses::CPose3DRotVec::composeFrom(), 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

Definition at line 461 of file gnss_messages_novatel.h.

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

◆ a2

double mrpt::obs::gnss::a2

Definition at line 454 of file gnss_messages_novatel.h.

Referenced by mrpt::poses::CPose3DRotVec::composeFrom(), 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

Definition at line 454 of file gnss_messages_novatel.h.

Referenced by mrAugmentBestRun(), and mrFindQuadNeighbors2().

◆ accel_x

int32_t mrpt::obs::gnss::accel_x

Definition at line 382 of file gnss_messages_novatel.h.

◆ accel_y_neg

int32_t mrpt::obs::gnss::accel_y_neg

Definition at line 382 of file gnss_messages_novatel.h.

◆ accel_z

int32_t mrpt::obs::gnss::accel_z

Definition at line 382 of file gnss_messages_novatel.h.

◆ att_cov

double mrpt::obs::gnss::att_cov[9]

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 291 of file gnss_messages_novatel.h.

◆ aux1stat

uint32_t mrpt::obs::gnss::aux1stat

Definition at line 332 of file gnss_messages_novatel.h.

◆ aux1stat_clear

uint32_t mrpt::obs::gnss::aux1stat_clear

Definition at line 332 of file gnss_messages_novatel.h.

◆ aux1stat_pri

uint32_t mrpt::obs::gnss::aux1stat_pri

Definition at line 332 of file gnss_messages_novatel.h.

◆ aux1stat_set

uint32_t mrpt::obs::gnss::aux1stat_set

Definition at line 332 of file gnss_messages_novatel.h.

◆ aux2stat

uint32_t mrpt::obs::gnss::aux2stat

Definition at line 333 of file gnss_messages_novatel.h.

◆ aux2stat_clear

uint32_t mrpt::obs::gnss::aux2stat_clear

Definition at line 333 of file gnss_messages_novatel.h.

◆ aux2stat_pri

uint32_t mrpt::obs::gnss::aux2stat_pri

Definition at line 333 of file gnss_messages_novatel.h.

◆ aux2stat_set

uint32_t mrpt::obs::gnss::aux2stat_set

Definition at line 333 of file gnss_messages_novatel.h.

◆ aux3stat

uint32_t mrpt::obs::gnss::aux3stat

Definition at line 334 of file gnss_messages_novatel.h.

◆ aux3stat_clear

uint32_t mrpt::obs::gnss::aux3stat_clear

Definition at line 334 of file gnss_messages_novatel.h.

◆ aux3stat_pri

uint32_t mrpt::obs::gnss::aux3stat_pri

Definition at line 334 of file gnss_messages_novatel.h.

◆ aux3stat_set

uint32_t mrpt::obs::gnss::aux3stat_set

Definition at line 334 of file gnss_messages_novatel.h.

◆ azimuth

double mrpt::obs::gnss::azimuth

Definition at line 264 of file gnss_messages_novatel.h.

Referenced by mrpt::obs::CObservationVelodyneScan::TPointCloud::clear_deep(), mrpt::obs::CObservationVelodyneScan::generatePointCloud(), and mrpt::obs::CObservationVelodyneScan::generatePointCloudAlongSE3Trajectory().

◆ b0

double mrpt::obs::gnss::b0

Definition at line 454 of file gnss_messages_novatel.h.

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

◆ b1

double mrpt::obs::gnss::b1

Definition at line 454 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(), median_cut(), mrAugmentBestRun(), mrFindQuadNeighbors2(), mrpt::math::noncentralChi2PDF_CDF(), mrpt::vision::pnp::p3p::solve_for_lengths(), mrpt::math::solve_poly4(), mrpt::math::solve_poly5(), and mrpt::math::spline().

◆ b2

double mrpt::obs::gnss::b2

Definition at line 454 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(), median_cut(), mrAugmentBestRun(), mrFindQuadNeighbors2(), XMLNode::parseFile(), solve_deg4(), mrpt::vision::pnp::p3p::solve_for_lengths(), mrpt::math::spline(), and mrpt::topography::UTMToGeodetic().

◆ b3

double mrpt::obs::gnss::b3

Definition at line 454 of file gnss_messages_novatel.h.

Referenced by mrpt::hwdrivers::CHokuyoURG::doProcessSimple(), mrAugmentBestRun(), mrFindQuadNeighbors2(), and solve_deg4().

◆ base_station_id

char mrpt::obs::gnss::base_station_id

Definition at line 235 of file gnss_messages_novatel.h.

◆ clock_offset

double mrpt::obs::gnss::clock_offset

Definition at line 426 of file gnss_messages_novatel.h.

◆ clock_offset_std

double mrpt::obs::gnss::clock_offset_std

Definition at line 426 of file gnss_messages_novatel.h.

◆ clock_status

uint32_t mrpt::obs::gnss::clock_status

Definition at line 428 of file gnss_messages_novatel.h.

◆ crc

uint32_t mrpt::obs::gnss::crc

Definition at line 242 of file gnss_messages_novatel.h.

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

◆ datum_id

uint32_t mrpt::obs::gnss::datum_id

Definition at line 232 of file gnss_messages_novatel.h.

◆ deltat_ls

uint32_t mrpt::obs::gnss::deltat_ls

Delta time due to leap seconds.

Definition at line 467 of file gnss_messages_novatel.h.

◆ deltat_lsf

uint32_t mrpt::obs::gnss::deltat_lsf

Delta time due to leap seconds (future)

Definition at line 469 of file gnss_messages_novatel.h.

◆ diff_age

float mrpt::obs::gnss::diff_age

Definition at line 236 of file gnss_messages_novatel.h.

◆ dn

uint32_t mrpt::obs::gnss::dn

Day number (1=sunday, 7=saturday)

Definition at line 465 of file gnss_messages_novatel.h.

◆ error

uint32_t mrpt::obs::gnss::error

Definition at line 330 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(), XMLNode::parseString(), 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

Definition at line 239 of file gnss_messages_novatel.h.

◆ galileo_beidou_mask

uint8_t mrpt::obs::gnss::galileo_beidou_mask

Definition at line 240 of file gnss_messages_novatel.h.

◆ gps_glonass_mask

uint8_t mrpt::obs::gnss::gps_glonass_mask

Definition at line 241 of file gnss_messages_novatel.h.

◆ gyro_x

int32_t mrpt::obs::gnss::gyro_x

Definition at line 383 of file gnss_messages_novatel.h.

◆ gyro_y_neg

int32_t mrpt::obs::gnss::gyro_y_neg

Definition at line 383 of file gnss_messages_novatel.h.

◆ gyro_z

int32_t mrpt::obs::gnss::gyro_z

Definition at line 383 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 226 of file gnss_messages_novatel.h.

Referenced by rp::standalone::rplidar::RPlidarDriverSerialImpl::_sendCommand(), rp::standalone::rplidar::RPlidarDriverSerialImpl::_waitResponseHeader(), mrpt::hwdrivers::CVelodyneScanner::internal_read_PCAP_packet(), mrpt::maps::loadLASFile(), mrpt::hwdrivers::CVelodyneScanner::receivePackets(), and mrpt::maps::saveLASFile().

◆ hgt

double mrpt::obs::gnss::hgt

Definition at line 230 of file gnss_messages_novatel.h.

◆ hgt_sigma

float mrpt::obs::gnss::hgt_sigma

Definition at line 234 of file gnss_messages_novatel.h.

◆ imu_status

uint32_t mrpt::obs::gnss::imu_status

Definition at line 381 of file gnss_messages_novatel.h.

◆ ins_status

nv_oem6_ins_status_type::nv_ins_status_type_t mrpt::obs::gnss::ins_status

Definition at line 265 of file gnss_messages_novatel.h.

◆ lat

double mrpt::obs::gnss::lat

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

Definition at line 230 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

Uncertainties (all in [m])

Definition at line 234 of file gnss_messages_novatel.h.

◆ lon

double mrpt::obs::gnss::lon

Definition at line 230 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

Definition at line 234 of file gnss_messages_novatel.h.

◆ num_sats_sol

uint8_t mrpt::obs::gnss::num_sats_sol

Definition at line 237 of file gnss_messages_novatel.h.

◆ num_sats_sol_L1

uint8_t mrpt::obs::gnss::num_sats_sol_L1

Definition at line 237 of file gnss_messages_novatel.h.

◆ num_sats_sol_multi

uint8_t mrpt::obs::gnss::num_sats_sol_multi

Definition at line 237 of file gnss_messages_novatel.h.

◆ num_sats_tracked

uint8_t mrpt::obs::gnss::num_sats_tracked

Definition at line 237 of file gnss_messages_novatel.h.

◆ num_stats

uint32_t mrpt::obs::gnss::num_stats

Definition at line 330 of file gnss_messages_novatel.h.

◆ pitch

double mrpt::obs::gnss::pitch

Definition at line 264 of file gnss_messages_novatel.h.

Referenced by mrpt::poses::CPose3DPDFGaussian::copyFrom(), mrpt::obs::CObservationBearingRange::debugPrintOut(), generate_points(), Pose3DPDFGaussTests::generateRandomPose3DPDF(), Pose3DQuatPDFGaussTests::generateRandomPose3DPDF(), Pose3DQuatPDFGaussTests::generateRandomPoseQuat3DPDF(), mrpt::obs::CObservationBearingRange::getDescriptionAsText(), mrpt::utils::internal::getPoseFromString(), mrpt::poses::CPoseInterpolatorBase< 3 >::impl_interpolation(), IMPLEMENTS_SERIALIZABLE(), mrpt::math::jacobians::jacob_quat_from_yawpitchroll(), mrpt::poses::CPose3DPDF::jacobiansPoseComposition(), mrpt::hwdrivers::CPhidgetInterfaceKitProximitySensors::loadConfig_sensorSpecific(), mrpt::opengl::CAngularObservationMesh::FTrace2D< T >::operator()(), mrpt::opengl::CRenderizable::readFromStreamRender(), mrpt::math::CQuaternion< T >::rpy(), mrpt::math::CQuaternion< T >::rpy_and_jacobian(), mrpt::opengl::CArrow::setArrowYawPitchRoll(), mrpt::poses::CPose3DRotVec::setFromXYZAndAngles(), mrpt::maps::CLandmarksMap::simulateRangeBearingReadings(), Pose3DQuatTests::test_invComposePoint_vs_CPose3D(), Pose3DQuatPDFGaussTests::test_toFromYPRGauss(), Pose3DPDFGaussTests::testAllPoseOperators(), Pose3DQuatPDFGaussTests::testChangeCoordsRef(), Pose3DPDFGaussTests::testChangeCoordsRef(), Pose3DQuatPDFGaussTests::testCompositionJacobian(), Pose3DPDFGaussTests::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]

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

Definition at line 288 of file gnss_messages_novatel.h.

◆ position_type

nv_oem6_position_type::nv_position_type_t mrpt::obs::gnss::position_type

Definition at line 228 of file gnss_messages_novatel.h.

◆ ref_secs

uint32_t mrpt::obs::gnss::ref_secs

Definition at line 342 of file gnss_messages_novatel.h.

◆ ref_week

uint32_t mrpt::obs::gnss::ref_week

Definition at line 342 of file gnss_messages_novatel.h.

◆ reserved

uint32_t mrpt::obs::gnss::reserved

Definition at line 238 of file gnss_messages_novatel.h.

◆ roll

double mrpt::obs::gnss::roll

Definition at line 264 of file gnss_messages_novatel.h.

Referenced by mrpt::poses::CPose3DPDFGaussian::copyFrom(), generate_points(), Pose3DPDFGaussTests::generateRandomPose3DPDF(), Pose3DQuatPDFGaussTests::generateRandomPose3DPDF(), Pose3DQuatPDFGaussTests::generateRandomPoseQuat3DPDF(), mrpt::utils::internal::getPoseFromString(), mrpt::poses::CPoseInterpolatorBase< 3 >::impl_interpolation(), mrpt::math::jacobians::jacob_quat_from_yawpitchroll(), mrpt::poses::CPose3DPDF::jacobiansPoseComposition(), mrpt::hwdrivers::CPhidgetInterfaceKitProximitySensors::loadConfig_sensorSpecific(), mrpt::opengl::CRenderizable::readFromStreamRender(), mrpt::math::CQuaternion< T >::rpy(), mrpt::math::CQuaternion< T >::rpy_and_jacobian(), mrpt::opengl::CArrow::setArrowYawPitchRoll(), mrpt::poses::CPose3DRotVec::setFromXYZAndAngles(), Pose3DQuatPDFGaussTests::test_toFromYPRGauss(), Pose3DPDFGaussTests::testAllPoseOperators(), Pose3DQuatPDFGaussTests::testChangeCoordsRef(), Pose3DPDFGaussTests::testChangeCoordsRef(), Pose3DQuatPDFGaussTests::testCompositionJacobian(), Pose3DPDFGaussTests::testCompositionJacobian(), Pose3DQuatPDFGaussTests::testInverse(), Pose3DPDFGaussTests::testPoseComposition(), Pose3DQuatPDFGaussTests::testPoseComposition(), Pose3DPDFGaussTests::testPoseInverse(), Pose3DPDFGaussTests::testPoseInverseComposition(), Pose3DQuatPDFGaussTests::testPoseInverseComposition(), and Pose3DPDFGaussTests::testToQuatPDFAndBack().

◆ rxstat

uint32_t mrpt::obs::gnss::rxstat

Definition at line 331 of file gnss_messages_novatel.h.

◆ rxstat_clear

uint32_t mrpt::obs::gnss::rxstat_clear

Definition at line 331 of file gnss_messages_novatel.h.

◆ rxstat_pri

uint32_t mrpt::obs::gnss::rxstat_pri

Definition at line 331 of file gnss_messages_novatel.h.

◆ rxstat_set

uint32_t mrpt::obs::gnss::rxstat_set

Definition at line 331 of file gnss_messages_novatel.h.

◆ sat_prn

uint32_t mrpt::obs::gnss::sat_prn

Definition at line 342 of file gnss_messages_novatel.h.

◆ seconds_in_week

double mrpt::obs::gnss::seconds_in_week

Definition at line 261 of file gnss_messages_novatel.h.

◆ sol_age

float mrpt::obs::gnss::sol_age

Definition at line 236 of file gnss_messages_novatel.h.

◆ solution_stat

nv_oem6_solution_status::nv_solution_status_t mrpt::obs::gnss::solution_stat

Definition at line 227 of file gnss_messages_novatel.h.

◆ subframe1

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

Definition at line 343 of file gnss_messages_novatel.h.

◆ subframe2

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

Definition at line 343 of file gnss_messages_novatel.h.

◆ subframe3

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

Definition at line 343 of file gnss_messages_novatel.h.

◆ tot

uint32_t mrpt::obs::gnss::tot

Reference time of UTC params.

Definition at line 459 of file gnss_messages_novatel.h.

◆ undulation

float mrpt::obs::gnss::undulation

Definition at line 231 of file gnss_messages_novatel.h.

◆ utc_offset

double mrpt::obs::gnss::utc_offset

Definition at line 427 of file gnss_messages_novatel.h.

Referenced by TIMECONV_GetJulianDateFromGPSTime().

◆ utc_wn

uint32_t mrpt::obs::gnss::utc_wn

UTC reference week number.

Definition at line 457 of file gnss_messages_novatel.h.

◆ vel_cov

double mrpt::obs::gnss::vel_cov[9]

Velocity covariance matrix in local level frame.

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

Definition at line 294 of file gnss_messages_novatel.h.

◆ vel_east

double mrpt::obs::gnss::vel_east

Definition at line 263 of file gnss_messages_novatel.h.

◆ vel_north

double mrpt::obs::gnss::vel_north

Definition at line 263 of file gnss_messages_novatel.h.

◆ vel_up

double mrpt::obs::gnss::vel_up

Definition at line 263 of file gnss_messages_novatel.h.

◆ week

uint32_t mrpt::obs::gnss::week

Definition at line 260 of file gnss_messages_novatel.h.

◆ week_seconds

double mrpt::obs::gnss::week_seconds

Definition at line 380 of file gnss_messages_novatel.h.

◆ wn_lsf

uint32_t mrpt::obs::gnss::wn_lsf

Future week number.

Definition at line 463 of file gnss_messages_novatel.h.

Detailed Description

Namespaces

Classes

Enumerations

Functions

Variables

Enumeration Type Documentation

◆ gnss_message_type_t

Function Documentation

◆ getAllFieldDescriptions()

◆ getAllFieldValues()

◆ getAsStruct()

Variable Documentation

◆ a0

◆ A0

◆ a1

◆ A1

◆ a2

◆ a3

◆ accel_x

◆ accel_y_neg

◆ accel_z

◆ att_cov

◆ aux1stat

◆ aux1stat_clear

◆ aux1stat_pri

◆ aux1stat_set

◆ aux2stat

◆ aux2stat_clear

◆ aux2stat_pri

◆ aux2stat_set

◆ aux3stat

◆ aux3stat_clear

◆ aux3stat_pri

◆ aux3stat_set

◆ azimuth

◆ b0

◆ b1

◆ b2

◆ b3

◆ base_station_id

◆ clock_offset

◆ clock_offset_std

◆ clock_status

◆ crc

◆ datum_id

◆ deltat_ls

◆ deltat_lsf

◆ diff_age

◆ dn

◆ error

◆ ext_sol_stat

◆ galileo_beidou_mask

◆ gps_glonass_mask

◆ gyro_x

◆ gyro_y_neg

◆ gyro_z

◆ header

◆ hgt

◆ hgt_sigma

◆ imu_status

◆ ins_status

◆ lat

◆ lat_sigma

◆ lon

◆ lon_sigma

◆ num_sats_sol

◆ num_sats_sol_L1

◆ num_sats_sol_multi

◆ num_sats_tracked

◆ num_stats

◆ pitch

◆ pos_cov

◆ position_type

◆ ref_secs

◆ ref_week

◆ reserved

◆ roll

◆ rxstat

◆ rxstat_clear