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mrpt::obs::gnss Namespace Reference

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  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  gnss_message
 Pure virtual base for all message types. More...
 
struct  gnss_message_ptr
 A smart pointer to a GNSS message. More...
 
struct  UTC_time
 UTC (Coordinated Universal Time) time-stamp structure for GPS messages. 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  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...
 

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 = 3001 + NV_OEM6_MSG2ENUM, 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 = 259 + NV_OEM6_MSG2ENUM, 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 MRPT_OVERRIDE
 
bool getAllFieldValues (std::ostream &o) const MRPT_OVERRIDE
 

Variables

nv_oem6_header_t header
 Novatel frame: NV_OEM6_BESTPOS. More...
 
uint32_t solution_stat
 nv_oem6_solution_status::nv_solution_status_t More...
 
uint32_t position_type
 nv_oem6_position_type::nv_position_type_t More...
 
double lat
 
double lon
 
double hgt
 [deg], [deg], hgt over sea level[m] More...
 
float undulation
 
uint32_t datum_id
 
float lat_sigma
 
float lon_sigma
 
float hgt_sigma
 Uncertainties (all in [m]) More...
 
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
 
uint32_t ins_status
 nv_oem6_ins_status_type::nv_ins_status_type_t More...
 
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. (deg sq) xx,xy,xz,yx,yy,yz,zx,zy,zz. More...
 
double vel_cov [9]
 Velocity covariance matrix in local level frame. (metres/second squared) xx,xy,xz,yx,yy,yz,zx,zy,zz. 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
 
double A1
 UTC constant and 1st order terms. More...
 
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

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 21 of file gnss_messages_type_list.h.

Function Documentation

GNSS_BINARY_MSG_DEFINITION_MID bool mrpt::obs::gnss::getAllFieldDescriptions ( std::ostream &  o) const
bool mrpt::obs::gnss::getAllFieldValues ( std::ostream &  o) const
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 190 of file gnss_messages_novatel.h.

Variable Documentation

double mrpt::obs::gnss::a0

Definition at line 367 of file gnss_messages_novatel.h.

double mrpt::obs::gnss::A0

Definition at line 370 of file gnss_messages_novatel.h.

double mrpt::obs::gnss::a1
double mrpt::obs::gnss::A1

UTC constant and 1st order terms.

Definition at line 370 of file gnss_messages_novatel.h.

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

double mrpt::obs::gnss::a2
double mrpt::obs::gnss::a3
int32_t mrpt::obs::gnss::accel_x

Definition at line 302 of file gnss_messages_novatel.h.

int32_t mrpt::obs::gnss::accel_y_neg

Definition at line 302 of file gnss_messages_novatel.h.

int32_t mrpt::obs::gnss::accel_z

Definition at line 302 of file gnss_messages_novatel.h.

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 225 of file gnss_messages_novatel.h.

uint32_t mrpt::obs::gnss::aux1stat

Definition at line 258 of file gnss_messages_novatel.h.

uint32_t mrpt::obs::gnss::aux1stat_clear

Definition at line 258 of file gnss_messages_novatel.h.

uint32_t mrpt::obs::gnss::aux1stat_pri

Definition at line 258 of file gnss_messages_novatel.h.

uint32_t mrpt::obs::gnss::aux1stat_set

Definition at line 258 of file gnss_messages_novatel.h.

uint32_t mrpt::obs::gnss::aux2stat

Definition at line 259 of file gnss_messages_novatel.h.

uint32_t mrpt::obs::gnss::aux2stat_clear

Definition at line 259 of file gnss_messages_novatel.h.

uint32_t mrpt::obs::gnss::aux2stat_pri

Definition at line 259 of file gnss_messages_novatel.h.

uint32_t mrpt::obs::gnss::aux2stat_set

Definition at line 259 of file gnss_messages_novatel.h.

uint32_t mrpt::obs::gnss::aux3stat

Definition at line 260 of file gnss_messages_novatel.h.

uint32_t mrpt::obs::gnss::aux3stat_clear

Definition at line 260 of file gnss_messages_novatel.h.

uint32_t mrpt::obs::gnss::aux3stat_pri

Definition at line 260 of file gnss_messages_novatel.h.

uint32_t mrpt::obs::gnss::aux3stat_set

Definition at line 260 of file gnss_messages_novatel.h.

double mrpt::obs::gnss::azimuth
double mrpt::obs::gnss::b0

Definition at line 367 of file gnss_messages_novatel.h.

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

double mrpt::obs::gnss::b1
double mrpt::obs::gnss::b2
double mrpt::obs::gnss::b3
char mrpt::obs::gnss::base_station_id

Definition at line 178 of file gnss_messages_novatel.h.

double mrpt::obs::gnss::clock_offset

Definition at line 341 of file gnss_messages_novatel.h.

double mrpt::obs::gnss::clock_offset_std

Definition at line 341 of file gnss_messages_novatel.h.

uint32_t mrpt::obs::gnss::clock_status

Definition at line 343 of file gnss_messages_novatel.h.

uint32_t mrpt::obs::gnss::crc
uint32_t mrpt::obs::gnss::datum_id

Definition at line 176 of file gnss_messages_novatel.h.

uint32_t mrpt::obs::gnss::deltat_ls

Delta time due to leap seconds.

Definition at line 373 of file gnss_messages_novatel.h.

uint32_t mrpt::obs::gnss::deltat_lsf

Delta time due to leap seconds (future)

Definition at line 374 of file gnss_messages_novatel.h.

float mrpt::obs::gnss::diff_age

Definition at line 179 of file gnss_messages_novatel.h.

uint32_t mrpt::obs::gnss::dn

Day number (1=sunday, 7=saturday)

Definition at line 372 of file gnss_messages_novatel.h.

uint32_t mrpt::obs::gnss::error
uint8_t mrpt::obs::gnss::ext_sol_stat

Definition at line 182 of file gnss_messages_novatel.h.

uint8_t mrpt::obs::gnss::galileo_beidou_mask

Definition at line 183 of file gnss_messages_novatel.h.

uint8_t mrpt::obs::gnss::gps_glonass_mask

Definition at line 184 of file gnss_messages_novatel.h.

int32_t mrpt::obs::gnss::gyro_x

Definition at line 303 of file gnss_messages_novatel.h.

int32_t mrpt::obs::gnss::gyro_y_neg

Definition at line 303 of file gnss_messages_novatel.h.

int32_t mrpt::obs::gnss::gyro_z

Definition at line 303 of file gnss_messages_novatel.h.

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 171 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(), and mrpt::maps::saveLASFile().

double mrpt::obs::gnss::hgt

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

Definition at line 174 of file gnss_messages_novatel.h.

float mrpt::obs::gnss::hgt_sigma

Uncertainties (all in [m])

Definition at line 177 of file gnss_messages_novatel.h.

uint32_t mrpt::obs::gnss::imu_status

Definition at line 301 of file gnss_messages_novatel.h.

uint32_t mrpt::obs::gnss::ins_status
double mrpt::obs::gnss::lat
float mrpt::obs::gnss::lat_sigma

Definition at line 177 of file gnss_messages_novatel.h.

double mrpt::obs::gnss::lon
float mrpt::obs::gnss::lon_sigma

Definition at line 177 of file gnss_messages_novatel.h.

uint8_t mrpt::obs::gnss::num_sats_sol

Definition at line 180 of file gnss_messages_novatel.h.

uint8_t mrpt::obs::gnss::num_sats_sol_L1

Definition at line 180 of file gnss_messages_novatel.h.

uint8_t mrpt::obs::gnss::num_sats_sol_multi

Definition at line 180 of file gnss_messages_novatel.h.

uint8_t mrpt::obs::gnss::num_sats_tracked

Definition at line 180 of file gnss_messages_novatel.h.

uint32_t mrpt::obs::gnss::num_stats

Definition at line 256 of file gnss_messages_novatel.h.

double mrpt::obs::gnss::pitch
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 224 of file gnss_messages_novatel.h.

uint32_t mrpt::obs::gnss::position_type
uint32_t mrpt::obs::gnss::ref_secs

Definition at line 267 of file gnss_messages_novatel.h.

uint32_t mrpt::obs::gnss::ref_week

Definition at line 267 of file gnss_messages_novatel.h.

uint32_t mrpt::obs::gnss::reserved

Definition at line 181 of file gnss_messages_novatel.h.

double mrpt::obs::gnss::roll
uint32_t mrpt::obs::gnss::rxstat

Definition at line 257 of file gnss_messages_novatel.h.

uint32_t mrpt::obs::gnss::rxstat_clear

Definition at line 257 of file gnss_messages_novatel.h.

uint32_t mrpt::obs::gnss::rxstat_pri

Definition at line 257 of file gnss_messages_novatel.h.

uint32_t mrpt::obs::gnss::rxstat_set

Definition at line 257 of file gnss_messages_novatel.h.

uint32_t mrpt::obs::gnss::sat_prn

Definition at line 267 of file gnss_messages_novatel.h.

double mrpt::obs::gnss::seconds_in_week

Definition at line 201 of file gnss_messages_novatel.h.

float mrpt::obs::gnss::sol_age

Definition at line 179 of file gnss_messages_novatel.h.

uint32_t mrpt::obs::gnss::solution_stat
uint8_t mrpt::obs::gnss::subframe1[30]

Definition at line 268 of file gnss_messages_novatel.h.

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

Definition at line 268 of file gnss_messages_novatel.h.

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

Definition at line 268 of file gnss_messages_novatel.h.

uint32_t mrpt::obs::gnss::tot

Reference time of UTC params.

Definition at line 369 of file gnss_messages_novatel.h.

float mrpt::obs::gnss::undulation

Definition at line 175 of file gnss_messages_novatel.h.

double mrpt::obs::gnss::utc_offset

Definition at line 342 of file gnss_messages_novatel.h.

Referenced by TIMECONV_GetJulianDateFromGPSTime().

uint32_t mrpt::obs::gnss::utc_wn

UTC reference week number.

Definition at line 368 of file gnss_messages_novatel.h.

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 226 of file gnss_messages_novatel.h.

double mrpt::obs::gnss::vel_east

Definition at line 203 of file gnss_messages_novatel.h.

double mrpt::obs::gnss::vel_north

Definition at line 203 of file gnss_messages_novatel.h.

double mrpt::obs::gnss::vel_up

Definition at line 203 of file gnss_messages_novatel.h.

uint32_t mrpt::obs::gnss::week

Definition at line 200 of file gnss_messages_novatel.h.

double mrpt::obs::gnss::week_seconds

Definition at line 300 of file gnss_messages_novatel.h.

uint32_t mrpt::obs::gnss::wn_lsf

Future week number.

Definition at line 371 of file gnss_messages_novatel.h.




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