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:

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 60 of file obs/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) throw ()

void	operator delete[] (void *ptr) throw ()

void	operator delete (void memory, void ptr) throw ()

void *	operator new (size_t size, const std::nothrow_t &) throw ()

void	operator delete (void *ptr, const std::nothrow_t &) throw ()

	CObservationGPS ()
	ctor More...

template<class METRICMAP >
bool	insertObservationInto (METRICMAP theMap, const mrpt::poses::CPose3D robotPose=NULL) 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...

mrpt::utils::CObjectPtr	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...

CObject *	clone () const
	Cloning interface for smart pointers. 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 NULL 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 MRPT_OVERRIDE
	A general method to retrieve the sensor pose on the robot. More...

void	setSensorPose (const mrpt::poses::CPose3D &newSensorPose) MRPT_OVERRIDE
	A general method to change the sensor pose on the robot. More...

void	getDescriptionAsText (std::ostream &o) const MRPT_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 MRPT_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...

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)
	Return false on invalid input data. More...

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

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

Static Public Attributes
static const mrpt::utils::TRuntimeClassId	classCObject

RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCObservation

RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCSerializable

Protected Member Functions
void	swap (CObservation &o)
	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. More...

CSerializable virtual methods
void	writeToStream (mrpt::utils::CStream &out, int *getVersion) const
	Introduces a pure virtual method responsible for writing to a CStream. More...

void	readFromStream (mrpt::utils::CStream &in, int version)
	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. Where available, this should contain the accurate satellite-based timestamp of the sensor reading. 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
typedef CObservationGPSPtr	Ptr

typedef CObservationGPSPtr	ConstPtr

static mrpt::utils::CLASSINIT	_init_CObservationGPS

static mrpt::utils::TRuntimeClassId	classCObservationGPS

static const mrpt::utils::TRuntimeClassId *	classinfo

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

virtual const mrpt::utils::TRuntimeClassId *	GetRuntimeClass () const
	Returns information about the class of an object in runtime. More...

virtual mrpt::utils::CObject *	duplicate () const
	Returns a copy of the object, indepently of its class. More...

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

static CObservationGPSPtr	Create ()

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

typedef CObservationGPSPtr mrpt::obs::CObservationGPS::ConstPtr

Definition at line 63 of file obs/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 66 of file obs/CObservationGPS.h.

◆ Ptr

typedef CObservationGPSPtr mrpt::obs::CObservationGPS::Ptr

A typedef for the associated smart pointer

Definition at line 63 of file obs/CObservationGPS.h.