#include <mrpt/slam/CObservationGPS.h>
Classes | |
struct | TGPSDatum_GGA |
The GPS datum for GGA commands. More... | |
struct | TGPSDatum_PZS |
The GPS datum for TopCon's mmGPS devices. More... | |
struct | TGPSDatum_RMC |
The GPS datum for RMC commands. More... | |
struct | TUTCTime |
A UTC time-stamp structure for GPS messages. More... | |
Public Member Functions | |
CObservationGPS () | |
Constructor. | |
void | dumpToStream (CStream &out) |
Dumps the contents of the observation in a human-readable form to a given output stream. | |
void | dumpToConsole () |
Dumps the contents of the observation in a human-readable form to the console. | |
float | likelihoodWith (const CObservation *anotherObs, const CPosePDF *anotherObsPose=NULL) const |
Implements the virtual method in charge of finding the likelihood between this and another observation, probably only of the same derived class. | |
void | getSensorPose (CPose3D &out_sensorPose) const |
A general method to retrieve the sensor pose on the robot. | |
void | setSensorPose (const CPose3D &newSensorPose) |
A general method to change the sensor pose on the robot. | |
Public Attributes | |
CPose3D | sensorPose |
The sensor pose on the robot. | |
bool | has_GGA_datum |
Will be true if the corresponding field contains data read from the sensor, or false if it is not available. | |
bool | has_RMC_datum |
Will be true if the corresponding field contains data read from the sensor, or false if it is not available. | |
bool | has_PZS_datum |
Will be true if the corresponding field contains data read from the sensor, or false if it is not available. | |
TGPSDatum_GGA | GGA_datum |
If "has_GGA_datum" is true, this contains the read GGA datum. | |
TGPSDatum_RMC | RMC_datum |
If "has_RMC_datum" is true, this contains the read RMC datum. | |
TGPSDatum_PZS | PZS_datum |
If "has_PZS_datum" is true, this contains the read PZS datum (TopCon's mmGPS devices only). |
Definition at line 48 of file CObservationGPS.h.
mrpt::slam::CObservationGPS::CObservationGPS | ( | ) |
Constructor.
void mrpt::slam::CObservationGPS::dumpToConsole | ( | ) |
Dumps the contents of the observation in a human-readable form to the console.
void mrpt::slam::CObservationGPS::dumpToStream | ( | CStream & | out | ) |
Dumps the contents of the observation in a human-readable form to a given output stream.
void mrpt::slam::CObservationGPS::getSensorPose | ( | CPose3D & | out_sensorPose | ) | const [inline, virtual] |
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.
Implements mrpt::slam::CObservation.
Definition at line 234 of file CObservationGPS.h.
float mrpt::slam::CObservationGPS::likelihoodWith | ( | const CObservation * | anotherObs, | |
const CPosePDF * | anotherObsPose = NULL | |||
) | const [virtual] |
Implements the virtual method in charge of finding the likelihood between this and another observation, probably only of the same derived class.
The operator may be asymmetric.
anotherObs | The other observation to compute likelihood with. | |
anotherObsPose | If known, the belief about the robot pose when the other observation was taken can be supplied here, or NULL if it is unknown. |
std::exception | On any error, as another observation being of an invalid class. |
Implements mrpt::slam::CObservation.
void mrpt::slam::CObservationGPS::setSensorPose | ( | const CPose3D & | newSensorPose | ) | [inline, virtual] |
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.
Implements mrpt::slam::CObservation.
Definition at line 241 of file CObservationGPS.h.
If "has_GGA_datum" is true, this contains the read GGA datum.
Definition at line 214 of file CObservationGPS.h.
Will be true if the corresponding field contains data read from the sensor, or false if it is not available.
Definition at line 202 of file CObservationGPS.h.
Will be true if the corresponding field contains data read from the sensor, or false if it is not available.
Definition at line 212 of file CObservationGPS.h.
Will be true if the corresponding field contains data read from the sensor, or false if it is not available.
Definition at line 207 of file CObservationGPS.h.
If "has_PZS_datum" is true, this contains the read PZS datum (TopCon's mmGPS devices only).
Definition at line 216 of file CObservationGPS.h.
If "has_RMC_datum" is true, this contains the read RMC datum.
Definition at line 215 of file CObservationGPS.h.
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