MRPT  1.9.9
List of all members | Public Types | Public Member Functions | Protected Member Functions
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:

Note that this object has two timestamp fields:

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

Example access to GPS datum:

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 67 of file CObservationGPS.h.

#include <mrpt/obs/CObservationGPS.h>

Inheritance diagram for mrpt::obs::CObservationGPS:

Public Types

using message_list_t = std::map< gnss::gnss_message_type_t, gnss::gnss_message_ptr >
 

Public Member Functions

bool has_GGA_datum () const
 true if the corresponding field exists in messages. More...
 
bool has_RMC_datum () const
 true if the corresponding field exists in messages. 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...
 
std::string getDescriptionAsTextValue () const
 Return by value version of getDescriptionAsText(std::ostream&) More...
 
virtual mxArraywriteToMatlab () const
 Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class. More...
 
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_messagegetMsgByType (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_messagegetMsgByType (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 (std::ostream &out) const
 Dumps the contents of the observation in a human-readable form to a given output stream. More...
 
void dumpToConsole (std::ostream &o) const
 Dumps the contents of the observation in a human-readable form to an std::ostream (use std::cout to print to 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 for polymorphic hierarchies
mrpt::rtti::CObject::Ptr duplicateGetSmartPtr () const
 Makes a deep copy of the object and returns a smart pointer to it. More...
 

Static Public Member Functions

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 {INVALID_TIMESTAMP}
 The local computer-based timestamp based on the reception of the message in the computer. More...
 
bool has_satellite_timestamp {false}
 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
uint8_t serializeGetVersion () const override
 Must return the current versioning number of the object. More...
 
void serializeTo (mrpt::serialization::CArchive &out) const override
 Pure virtual method for writing (serializing) to an abstract archive. More...
 
void serializeFrom (mrpt::serialization::CArchive &in, uint8_t serial_version) override
 Pure virtual method for reading (deserializing) from an abstract archive. More...
 
CSerializable virtual methods
virtual void serializeTo (CSchemeArchiveBase &out) const
 Virtual method for writing (serializing) to an abstract schema based archive. More...
 
virtual void serializeFrom (CSchemeArchiveBase &in)
 Virtual method for reading (deserializing) from an abstract schema based archive. More...
 

Data common to any observation

mrpt::system::TTimeStamp timestamp {mrpt::system::now()}
 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< mrpt::obs ::CObservationGPS >
 
using ConstPtr = std::shared_ptr< const mrpt::obs ::CObservationGPS >
 
using UniquePtr = std::unique_ptr< mrpt::obs ::CObservationGPS >
 
using ConstUniquePtr = std::unique_ptr< const mrpt::obs ::CObservationGPS >
 
static const mrpt::rtti::TRuntimeClassId runtimeClassId
 
static constexpr const char * className = "mrpt::obs" "::" "CObservationGPS"
 
static const mrpt::rtti::TRuntimeClassId_GetBaseClass ()
 
static constexpr auto getClassName ()
 
static const mrpt::rtti::TRuntimeClassIdGetRuntimeClassIdStatic ()
 
static std::shared_ptr< CObjectCreateObject ()
 
template<typename... Args>
static Ptr Create (Args &&... args)
 
template<typename Alloc , typename... Args>
static Ptr CreateAlloc (const Alloc &alloc, Args &&... args)
 
template<typename... Args>
static UniquePtr CreateUnique (Args &&... args)
 
virtual const mrpt::rtti::TRuntimeClassIdGetRuntimeClass () const override
 Returns information about the class of an object in runtime. More...
 
virtual mrpt::rtti::CObjectclone () const override
 Returns a deep copy (clone) of the object, indepently of its class. More...
 

Member Typedef Documentation

◆ ConstPtr

Definition at line 69 of file CObservationGPS.h.

◆ ConstUniquePtr

using mrpt::obs::CObservationGPS::ConstUniquePtr = std::unique_ptr<const mrpt::obs :: CObservationGPS >

Definition at line 69 of file CObservationGPS.h.

◆ message_list_t

Definition at line 73 of file CObservationGPS.h.

◆ Ptr

A type for the associated smart pointer

Definition at line 69 of file CObservationGPS.h.

◆ UniquePtr

using mrpt::obs::CObservationGPS::UniquePtr = std::unique_ptr< mrpt::obs :: CObservationGPS >

Definition at line 69 of file CObservationGPS.h.

Member Function Documentation

◆ _GetBaseClass()

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

◆ clear()

void CObservationGPS::clear ( )

Empties this observation, clearing the container messages.

Definition at line 270 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::rtti::CObject* mrpt::obs::CObservationGPS::clone ( ) const
overridevirtual

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

Implements mrpt::rtti::CObject.

◆ Create()

template<typename... Args>
static Ptr mrpt::obs::CObservationGPS::Create ( Args &&...  args)
inlinestatic

Definition at line 69 of file CObservationGPS.h.

Referenced by mrpt::hwdrivers::CVelodyneScanner::getNextObservation().

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◆ CreateAlloc()

template<typename Alloc , typename... Args>
static Ptr mrpt::obs::CObservationGPS::CreateAlloc ( const Alloc &  alloc,
Args &&...  args 
)
inlinestatic

Definition at line 69 of file CObservationGPS.h.

◆ CreateObject()

static std::shared_ptr<CObject> mrpt::obs::CObservationGPS::CreateObject ( )
static

◆ CreateUnique()

template<typename... Args>
static UniquePtr mrpt::obs::CObservationGPS::CreateUnique ( Args &&...  args)
inlinestatic

Definition at line 69 of file CObservationGPS.h.

◆ dumpToConsole()

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

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

Definition at line 260 of file CObservationGPS.cpp.

◆ dumpToStream()

void CObservationGPS::dumpToStream ( std::ostream &  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 252 of file CObservationGPS.cpp.

References out.

◆ duplicateGetSmartPtr()

mrpt::rtti::CObject::Ptr CObject::duplicateGetSmartPtr ( ) const
inlineinherited

Makes a deep copy of the object and returns a smart pointer to it.

Definition at line 204 of file CObject.h.

References mrpt::rtti::CObject::clone().

Referenced by mrpt::obs::CRawlog::addActions(), and mrpt::obs::CRawlog::addObservations().

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◆ getClassName()

static constexpr auto mrpt::obs::CObservationGPS::getClassName ( )
inlinestatic

Definition at line 69 of file CObservationGPS.h.

◆ 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 276 of file CObservationGPS.cpp.

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

Referenced by mrpt::apps::RawlogGrabberApp::dump_GPS_mode_info().

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◆ getDescriptionAsTextValue()

std::string CObservation::getDescriptionAsTextValue ( ) const
inherited

Return by value version of getDescriptionAsText(std::ostream&)

Definition at line 55 of file CObservation.cpp.

◆ 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_errorIf 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 144 of file CObservationGPS.h.

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

Referenced by mrpt::apps::RawlogGrabberApp::dump_GPS_mode_info().

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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 158 of file CObservationGPS.h.

References ASSERT_, ASSERTMSG_, 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 174 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 184 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_errorIf 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 299 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 311 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 265 of file CObservationGPS.cpp.

◆ GetRuntimeClass()

virtual const mrpt::rtti::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::rtti::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 24 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 203 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 66 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_countGPS to UTC time number of leap seconds (normally grabbed from satellital live data)
utc_outReturn false on invalid input data [out] UTC timestamp

Definition at line 494 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 505 of file CObservationGPS.cpp.

References TIMECONV_GetJulianDateFromGPSTime(), and TIMECONV_GetUTCTimeFromJulianDate().

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◆ has_GGA_datum()

bool mrpt::obs::CObservationGPS::has_GGA_datum ( ) const
inline

true if the corresponding field exists in messages.

Definition at line 219 of file CObservationGPS.h.

References messages, and mrpt::obs::gnss::NMEA_GGA.

Referenced by mrpt::hwdrivers::CGPSInterface::doProcess(), and mrpt::apps::RawlogGrabberApp::dump_GPS_mode_info().

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◆ has_RMC_datum()

bool mrpt::obs::CObservationGPS::has_RMC_datum ( ) const
inline

true if the corresponding field exists in messages.

Definition at line 224 of file CObservationGPS.h.

References messages, and mrpt::obs::gnss::NMEA_RMC.

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

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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 116 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 294 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
theMapThe map where this observation is to be inserted: the map will be updated.
robotPoseThe pose of the robot base for this observation, relative to the target metric map. Set to 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 99 of file CObservation.h.

◆ load()

virtual void mrpt::obs::CObservation::load ( ) const
inlinevirtualinherited

Makes sure all images and other fields which may be externally stored are loaded in memory.

Note that for all CImages, calling load() is not required since the images will be automatically loaded upon first access, so load() shouldn't be needed to be called in normal cases by the user. If all the data were alredy loaded or this object has no externally stored data fields, calling this method has no effects.

See also
unload

Reimplemented in mrpt::obs::CObservation3DRangeScan, and mrpt::obs::CObservationPointCloud.

Definition at line 157 of file CObservation.h.

Referenced by mrpt::maps::COctoMapBase< octomap::OcTree, octomap::OcTreeNode >::internal_build_PointCloud_for_observation().

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◆ serializeFrom() [1/2]

void CObservationGPS::serializeFrom ( mrpt::serialization::CArchive in,
uint8_t  serial_version 
)
overrideprotectedvirtual

Pure virtual method for reading (deserializing) from an abstract archive.

Users don't call this method directly. Instead, use stream >> object;.

Parameters
inThe input binary stream where the object data must read from.
versionThe version of the object stored in the stream: use this version number in your code to know how to read the incoming data.
Exceptions
std::exceptionOn any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 46 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_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::containers::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_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::math::CMatrixFixed< T, ROWS, COLS >::size(), 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, THROW_EXCEPTION, mrpt::obs::gnss::TOPCON_PZS, mrpt::obs::gnss::TOPCON_SATS, mrpt::obs::gnss::Message_TOPCON_PZS::TXBattery, 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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◆ serializeFrom() [2/2]

virtual void mrpt::serialization::CSerializable::serializeFrom ( CSchemeArchiveBase in)
inlineprotectedvirtualinherited

Virtual method for reading (deserializing) from an abstract schema based archive.

Definition at line 74 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ serializeGetVersion()

uint8_t CObservationGPS::serializeGetVersion ( ) const
overrideprotectedvirtual

Must return the current versioning number of the object.

Start in zero for new classes, and increments each time there is a change in the stored format.

Implements mrpt::serialization::CSerializable.

Definition at line 35 of file CObservationGPS.cpp.

◆ serializeTo() [1/2]

virtual void mrpt::serialization::CSerializable::serializeTo ( CSchemeArchiveBase out) const
inlineprotectedvirtualinherited

Virtual method for writing (serializing) to an abstract schema based archive.

Definition at line 64 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ serializeTo() [2/2]

void CObservationGPS::serializeTo ( mrpt::serialization::CArchive out) const
overrideprotectedvirtual

Pure virtual method for writing (serializing) to an abstract archive.

Users don't call this method directly. Instead, use stream << object;.

Exceptions
std::exceptionOn any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 36 of file CObservationGPS.cpp.

References out.

◆ 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 103 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 31 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 207 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 36 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 25 of file CObservationGPS.cpp.

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, and mrpt::obs::CObservationPointCloud.

Definition at line 164 of file CObservation.h.

◆ writeToMatlab()

virtual mxArray* mrpt::serialization::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 90 of file CSerializable.h.

Member Data Documentation

◆ className

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

Definition at line 69 of file CObservationGPS.h.

◆ has_satellite_timestamp

bool mrpt::obs::CObservationGPS::has_satellite_timestamp {false}

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 86 of file CObservationGPS.h.

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

◆ 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 92 of file CObservationGPS.h.

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

◆ originalReceivedTimestamp

mrpt::system::TTimeStamp mrpt::obs::CObservationGPS::originalReceivedTimestamp {INVALID_TIMESTAMP}

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 82 of file CObservationGPS.h.

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

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::obs::CObservationGPS::runtimeClassId
staticprotected

Definition at line 69 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 62 of file CObservation.h.

Referenced by mrpt::obs::CObservation3DRangeScan::convertTo2DScan(), mrpt::hwdrivers::CSICKTim561Eth::decodeScan(), mrpt::hwdrivers::CLMS100Eth::decodeScan(), mrpt::hwdrivers::CRaePID::doProcess(), mrpt::hwdrivers::CRoboPeakLidar::doProcessSimple(), mrpt::hwdrivers::CSickLaserUSB::doProcessSimple(), mrpt::hwdrivers::CCANBusReader::doProcessSimple(), mrpt::hwdrivers::CSickLaserSerial::doProcessSimple(), mrpt::hwdrivers::CHokuyoURG::doProcessSimple(), mrpt::apps::RawlogGrabberApp::dump_GPS_mode_info(), mrpt::hwdrivers::CGPSInterface::flushParsedMessagesNow(), mrpt::obs::CObservationRotatingScan::fromScan2D(), mrpt::obs::CObservationRotatingScan::fromVelodyne(), 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::obs::CObservation6DFeatures::serializeFrom(), mrpt::obs::CObservationPointCloud::serializeFrom(), mrpt::obs::CObservation3DRangeScan::serializeFrom(), mrpt::obs::CObservation6DFeatures::serializeTo(), mrpt::obs::CObservationPointCloud::serializeTo(), mrpt::obs::CObservation3DRangeScan::serializeTo(), and mrpt::obs::CObservation::swap().

◆ sensorPose

mrpt::poses::CPose3D mrpt::obs::CObservationGPS::sensorPose {}

The sensor pose on the robot/vehicle.

Definition at line 78 of file CObservationGPS.h.

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

◆ timestamp

mrpt::system::TTimeStamp mrpt::obs::CObservation::timestamp {mrpt::system::now()}
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 60 of file CObservation.h.

Referenced by mrpt::obs::CObservation3DRangeScan::convertTo2DScan(), mrpt::hwdrivers::CSICKTim561Eth::decodeScan(), 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::CSickLaserSerial::doProcessSimple(), mrpt::hwdrivers::CHokuyoURG::doProcessSimple(), mrpt::hwdrivers::CGPSInterface::flushParsedMessagesNow(), mrpt::obs::CObservationRotatingScan::fromScan2D(), mrpt::obs::CObservationRotatingScan::fromVelodyne(), 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::CImageGrabber_OpenCV::getObservation(), mrpt::hwdrivers::CEnoseModular::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::maps::CLandmarksMap::loadOccupancyFeaturesFrom2DRangeScan(), mrpt::maps::CLandmarksMap::loadSiftFeaturesFromImageObservation(), mrpt::maps::CLandmarksMap::loadSiftFeaturesFromStereoImageObservation(), mrpt::hwdrivers::CGPSInterface::parse_NMEA(), mrpt::apps::KFSLAMApp::Run_KF_SLAM(), mrpt::obs::CObservation6DFeatures::serializeFrom(), mrpt::obs::CObservationPointCloud::serializeFrom(), mrpt::obs::CObservation3DRangeScan::serializeFrom(), mrpt::obs::CObservation6DFeatures::serializeTo(), mrpt::obs::CObservationPointCloud::serializeTo(), mrpt::obs::CObservation3DRangeScan::serializeTo(), mrpt::maps::CLandmarksMap::simulateBeaconReadings(), mrpt::maps::CLandmarksMap::simulateRangeBearingReadings(), mrpt::obs::CObservation::swap(), and velodyne_scan_to_pointcloud().




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