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mrpt::slam::CObservationGPS Class Reference

Declares a class derived from "CObservation" that represents a Global Positioning System (GPS) reading. More...

#include <mrpt/slam/CObservationGPS.h>

Inheritance diagram for mrpt::slam::CObservationGPS:

mrpt::slam::CObservation mrpt::utils::CSerializable

List of all members.

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).


Detailed Description

Declares a class derived from "CObservation" that represents a Global Positioning System (GPS) reading.

See also:
CObservation

Definition at line 48 of file CObservationGPS.h.


Constructor & Destructor Documentation

mrpt::slam::CObservationGPS::CObservationGPS (  ) 

Constructor.


Member Function Documentation

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.

See also:
setSensorPose

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.

Parameters:
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.
Returns:
Returns a likelihood measurement, in the range [0,1].
Exceptions:
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.

See also:
getSensorPose

Implements mrpt::slam::CObservation.

Definition at line 241 of file CObservationGPS.h.


Member Data Documentation

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.

See also:
GGA_datum

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.

See also:
PZS_datum

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.

See also:
RMC_datum

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.

The sensor pose on the robot.

Definition at line 69 of file CObservationGPS.h.




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