Detailed Description

GPS datum for TopCon's mmGPS devices: PZS.

See also: mrpt::obs::CObservationGPS

Definition at line 19 of file gnss_messages_topcon.h.

#include <mrpt/obs/gnss_messages_topcon.h>

Inheritance diagram for mrpt::obs::gnss::Message_TOPCON_PZS:

Public Types
enum	{ msg_type = TOPCON_PZS }

Public Member Functions
	Message_TOPCON_PZS ()

template<class TGEODETICCOORDS >
TGEODETICCOORDS	getAsStruct () const
	Return the geodetic coords as a mrpt::topography::TGeodeticCoords structure (requires linking against mrpt-topography) Call as: getAsStruct<TGeodeticCoords>();. More...

void	dumpToStream (mrpt::utils::CStream &out) const MRPT_OVERRIDE
	Dumps the contents of the observation in a human-readable form to a given output stream. More...

void	writeToStream (mrpt::utils::CStream &out) const
	Save to binary stream. Launches an exception upon error. More...

void	readFromStream (mrpt::utils::CStream &in)
	Load from binary stream into this existing object. Launches an exception upon error. More...

bool	isOfType (const gnss_message_type_t type_id) const

template<class MSG_CLASS >
bool	isOfClass () const

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...

virtual bool	getAllFieldDescriptions (std::ostream &o) const
	Dumps a header for getAllFieldValues() More...

virtual bool	getAllFieldValues (std::ostream &o) const
	Dumps a line with the sequence of all field values (without a line feed at the end). More...

const std::string &	getMessageTypeAsString () const
	Returns "NMEA_GGA", etc. More...

Static Public Member Functions
static gnss_message *	readAndBuildFromStream (mrpt::utils::CStream &in)
	Load from binary stream and creates object detecting its type (class factory). Launches an exception upon error. More...

static gnss_message *	Factory (const gnss_message_type_t msg_id)
	Creates message. More...

static bool	FactoryKnowsMsgType (const gnss_message_type_t msg_id)
	Returns true if Factory() has a registered constructor for this msg type. More...

Public Attributes
double	latitude_degrees
	The measured latitude, in degrees (North:+ , South:-) More...

double	longitude_degrees
	The measured longitude, in degrees (East:+ , West:-) More...

double	height_meters
	ellipsoidal height from N-beam [m] perhaps weighted with regular gps More...

double	RTK_height_meters
	ellipsoidal height [m] without N-beam correction More...

float	PSigma
	position SEP [m] More...

double	angle_transmitter
	Vertical angle of N-beam. More...

uint8_t	nId
	ID of the transmitter [1-4], 0 if none. More...

uint8_t	Fix
	1: GPS, 2: mmGPS More...

uint8_t	TXBattery
	battery level on transmitter More...

uint8_t	RXBattery
	battery level on receiver More...

uint8_t	error

bool	hasCartesianPosVel
	system error indicator More...

double	cartesian_x

double	cartesian_y

double	cartesian_z
	Only if hasCartesianPosVel is true. More...

double	cartesian_vx

double	cartesian_vy

double	cartesian_vz
	Only if hasCartesianPosVel is true. More...

bool	hasPosCov

mrpt::math::CMatrixFloat44	pos_covariance
	Only if hasPosCov is true. More...

bool	hasVelCov

mrpt::math::CMatrixFloat44	vel_covariance
	Only if hasPosCov is true. More...

bool	hasStats

uint8_t	stats_GPS_sats_used

uint8_t	stats_GLONASS_sats_used

uint8_t	stats_rtk_fix_progress
	[0,100] %, only in modes other than RTK FIXED. More...

gnss_message_type_t	message_type
	Type of GNSS message. More...

Protected Member Functions
void	internal_writeToStream (mrpt::utils::CStream &out) const MRPT_OVERRIDE
	Save to binary stream. Launches an exception upon error. More...

void	internal_readFromStream (mrpt::utils::CStream &in) MRPT_OVERRIDE
	Save to binary stream. Launches an exception upon error. More...

Member Enumeration Documentation

◆ anonymous enum

anonymous enum

Enumerator
msg_type

Definition at line 21 of file gnss_messages_topcon.h.

Constructor & Destructor Documentation

◆ Message_TOPCON_PZS()

Message_TOPCON_PZS::Message_TOPCON_PZS ( )

Definition at line 18 of file gnss_messages_topcon.cpp.

Member Function Documentation

◆ dumpToConsole()

void mrpt::obs::gnss::gnss_message::dumpToConsole ( std::ostream & o = std::cout ) const

inherited

Dumps the contents of the observation in a human-readable form to an std::ostream (default=console)

◆ dumpToStream()

void Message_TOPCON_PZS::dumpToStream ( mrpt::utils::CStream & out ) const

virtual

Dumps the contents of the observation in a human-readable form to a given output stream.

See also: dumpToConsole()

Implements mrpt::obs::gnss::gnss_message.

Definition at line 43 of file gnss_messages_topcon.cpp.

References angle_transmitter, cartesian_vx, cartesian_vy, cartesian_vz, cartesian_x, cartesian_y, cartesian_z, error, Fix, hasCartesianPosVel, hasPosCov, hasStats, hasVelCov, height_meters, latitude_degrees, longitude_degrees, nId, pos_covariance, mrpt::utils::CStream::printf(), RTK_height_meters, RXBattery, stats_GLONASS_sats_used, stats_GPS_sats_used, stats_rtk_fix_progress, TXBattery, and vel_covariance.

◆ Factory()

gnss_message * gnss_message::Factory ( const gnss_message_type_t msg_id )

staticinherited

Creates message.

Returns: NULL on unknown msg type

Definition at line 47 of file gnss_messages_common.cpp.

References LIST_ALL_MSGS.

◆ FactoryKnowsMsgType()

bool gnss_message::FactoryKnowsMsgType ( const gnss_message_type_t msg_id )

staticinherited

Returns true if Factory() has a registered constructor for this msg type.

Definition at line 58 of file gnss_messages_common.cpp.

References LIST_ALL_MSGS.

◆ getAllFieldDescriptions()

virtual bool mrpt::obs::gnss::gnss_message::getAllFieldDescriptions ( std::ostream & o ) const

inlinevirtualinherited

Dumps a header for getAllFieldValues()

Returns: false if not implemented for this message type

Reimplemented in mrpt::obs::gnss::Message_NMEA_ZDA, mrpt::obs::gnss::Message_NMEA_VTG, mrpt::obs::gnss::Message_NMEA_RMC, mrpt::obs::gnss::Message_NMEA_GLL, and mrpt::obs::gnss::Message_NMEA_GGA.

Definition at line 41 of file gnss_messages_common.h.

◆ getAllFieldValues()

virtual bool mrpt::obs::gnss::gnss_message::getAllFieldValues ( std::ostream & o ) const

inlinevirtualinherited

Dumps a line with the sequence of all field values (without a line feed at the end).

See also: getAllFieldDescriptions()

Returns: false if not implemented for this message type

Reimplemented in mrpt::obs::gnss::Message_NMEA_ZDA, mrpt::obs::gnss::Message_NMEA_VTG, mrpt::obs::gnss::Message_NMEA_RMC, mrpt::obs::gnss::Message_NMEA_GLL, and mrpt::obs::gnss::Message_NMEA_GGA.

Definition at line 42 of file gnss_messages_common.h.

◆ getAsStruct()

template<class TGEODETICCOORDS >

TGEODETICCOORDS mrpt::obs::gnss::Message_TOPCON_PZS::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 53 of file gnss_messages_topcon.h.

◆ getMessageTypeAsString()

const std::string & gnss_message::getMessageTypeAsString ( ) const

inherited

Returns "NMEA_GGA", etc.

Definition at line 70 of file gnss_messages_common.cpp.

References LIST_ALL_MSGS.

Referenced by mrpt::hwdrivers::CGPSInterface::implement_parser_NOVATEL_OEM6().

◆ internal_readFromStream()

void Message_TOPCON_PZS::internal_readFromStream ( mrpt::utils::CStream & in )

protectedvirtual

Save to binary stream. Launches an exception upon error.

Implements mrpt::obs::gnss::gnss_message.

Definition at line 94 of file gnss_messages_topcon.cpp.

References angle_transmitter, cartesian_vx, cartesian_vy, cartesian_vz, cartesian_x, cartesian_y, cartesian_z, error, Fix, hasCartesianPosVel, hasPosCov, hasStats, hasVelCov, height_meters, latitude_degrees, longitude_degrees, nId, pos_covariance, PSigma, RTK_height_meters, RXBattery, stats_GLONASS_sats_used, stats_GPS_sats_used, stats_rtk_fix_progress, TXBattery, and vel_covariance.

◆ internal_writeToStream()

void Message_TOPCON_PZS::internal_writeToStream ( mrpt::utils::CStream & out ) const

protectedvirtual

Save to binary stream. Launches an exception upon error.

Implements mrpt::obs::gnss::gnss_message.

Definition at line 80 of file gnss_messages_topcon.cpp.

References angle_transmitter, cartesian_vx, cartesian_vy, cartesian_vz, cartesian_x, cartesian_y, cartesian_z, error, Fix, hasCartesianPosVel, hasPosCov, hasStats, hasVelCov, height_meters, latitude_degrees, longitude_degrees, nId, pos_covariance, PSigma, RTK_height_meters, RXBattery, stats_GLONASS_sats_used, stats_GPS_sats_used, stats_rtk_fix_progress, TXBattery, and vel_covariance.

◆ isOfClass()

template<class MSG_CLASS >

bool mrpt::obs::gnss::gnss_message::isOfClass ( ) const

inlineinherited

Definition at line 33 of file gnss_messages_common.h.

◆ isOfType()

bool mrpt::obs::gnss::gnss_message::isOfType ( const gnss_message_type_t type_id ) const

inherited

◆ readAndBuildFromStream()

gnss_message * gnss_message::readAndBuildFromStream ( mrpt::utils::CStream & in )

staticinherited

Load from binary stream and creates object detecting its type (class factory). Launches an exception upon error.

Definition at line 104 of file gnss_messages_common.cpp.

References mrpt::obs::gnss::gnss_message::internal_readFromStream(), and THROW_EXCEPTION_FMT.

Referenced by mrpt::obs::gnss::gnss_message_ptr::gnss_message_ptr(), and mrpt::obs::gnss::gnss_message_ptr::operator=().

◆ readFromStream()

void gnss_message::readFromStream ( mrpt::utils::CStream & in )

inherited

Load from binary stream into this existing object. Launches an exception upon error.

Definition at line 95 of file gnss_messages_common.cpp.

References ASSERT_EQUAL_.

◆ writeToStream()

void gnss_message::writeToStream ( mrpt::utils::CStream & out ) const

inherited

Save to binary stream. Launches an exception upon error.

Definition at line 87 of file gnss_messages_common.cpp.

Referenced by mrpt::obs::gnss::gnss_message_ptr::gnss_message_ptr(), and mrpt::obs::gnss::gnss_message_ptr::operator=().

Member Data Documentation

◆ angle_transmitter

double mrpt::obs::gnss::Message_TOPCON_PZS::angle_transmitter

Vertical angle of N-beam.

Definition at line 28 of file gnss_messages_topcon.h.

Referenced by dumpToStream(), internal_readFromStream(), internal_writeToStream(), and mrpt::obs::CObservationGPS::readFromStream().

◆ cartesian_vx

double mrpt::obs::gnss::Message_TOPCON_PZS::cartesian_vx

Definition at line 37 of file gnss_messages_topcon.h.

Referenced by dumpToStream(), internal_readFromStream(), internal_writeToStream(), and mrpt::obs::CObservationGPS::readFromStream().

◆ cartesian_vy

double mrpt::obs::gnss::Message_TOPCON_PZS::cartesian_vy

Definition at line 37 of file gnss_messages_topcon.h.

Referenced by dumpToStream(), internal_readFromStream(), internal_writeToStream(), and mrpt::obs::CObservationGPS::readFromStream().

◆ cartesian_vz

double mrpt::obs::gnss::Message_TOPCON_PZS::cartesian_vz

Only if hasCartesianPosVel is true.

Definition at line 37 of file gnss_messages_topcon.h.

Referenced by dumpToStream(), internal_readFromStream(), internal_writeToStream(), and mrpt::obs::CObservationGPS::readFromStream().

◆ cartesian_x

double mrpt::obs::gnss::Message_TOPCON_PZS::cartesian_x

Definition at line 36 of file gnss_messages_topcon.h.

Referenced by dumpToStream(), internal_readFromStream(), internal_writeToStream(), and mrpt::obs::CObservationGPS::readFromStream().

◆ cartesian_y

double mrpt::obs::gnss::Message_TOPCON_PZS::cartesian_y

Definition at line 36 of file gnss_messages_topcon.h.

Referenced by dumpToStream(), internal_readFromStream(), internal_writeToStream(), and mrpt::obs::CObservationGPS::readFromStream().

◆ cartesian_z

double mrpt::obs::gnss::Message_TOPCON_PZS::cartesian_z

Only if hasCartesianPosVel is true.

Definition at line 36 of file gnss_messages_topcon.h.

Referenced by dumpToStream(), internal_readFromStream(), internal_writeToStream(), and mrpt::obs::CObservationGPS::readFromStream().

◆ error

uint8_t mrpt::obs::gnss::Message_TOPCON_PZS::error

Definition at line 33 of file gnss_messages_topcon.h.

Referenced by dumpToStream(), internal_readFromStream(), internal_writeToStream(), and mrpt::obs::CObservationGPS::readFromStream().

◆ Fix

uint8_t mrpt::obs::gnss::Message_TOPCON_PZS::Fix

1: GPS, 2: mmGPS

Definition at line 30 of file gnss_messages_topcon.h.

Referenced by dumpToStream(), internal_readFromStream(), internal_writeToStream(), and mrpt::obs::CObservationGPS::readFromStream().

◆ hasCartesianPosVel

bool mrpt::obs::gnss::Message_TOPCON_PZS::hasCartesianPosVel

system error indicator

Definition at line 35 of file gnss_messages_topcon.h.

Referenced by dumpToStream(), internal_readFromStream(), internal_writeToStream(), and mrpt::obs::CObservationGPS::readFromStream().

◆ hasPosCov

bool mrpt::obs::gnss::Message_TOPCON_PZS::hasPosCov

Definition at line 39 of file gnss_messages_topcon.h.

Referenced by dumpToStream(), internal_readFromStream(), internal_writeToStream(), and mrpt::obs::CObservationGPS::readFromStream().

◆ hasStats

bool mrpt::obs::gnss::Message_TOPCON_PZS::hasStats

Definition at line 45 of file gnss_messages_topcon.h.

Referenced by dumpToStream(), internal_readFromStream(), internal_writeToStream(), and mrpt::obs::CObservationGPS::readFromStream().

◆ hasVelCov

bool mrpt::obs::gnss::Message_TOPCON_PZS::hasVelCov

Definition at line 42 of file gnss_messages_topcon.h.

Referenced by dumpToStream(), internal_readFromStream(), internal_writeToStream(), and mrpt::obs::CObservationGPS::readFromStream().

◆ height_meters

double mrpt::obs::gnss::Message_TOPCON_PZS::height_meters

ellipsoidal height from N-beam [m] perhaps weighted with regular gps

Definition at line 25 of file gnss_messages_topcon.h.

Referenced by dumpToStream(), internal_readFromStream(), internal_writeToStream(), and mrpt::obs::CObservationGPS::readFromStream().

◆ latitude_degrees

double mrpt::obs::gnss::Message_TOPCON_PZS::latitude_degrees

The measured latitude, in degrees (North:+ , South:-)

Definition at line 23 of file gnss_messages_topcon.h.

Referenced by dumpToStream(), internal_readFromStream(), internal_writeToStream(), and mrpt::obs::CObservationGPS::readFromStream().

◆ longitude_degrees

double mrpt::obs::gnss::Message_TOPCON_PZS::longitude_degrees

The measured longitude, in degrees (East:+ , West:-)

Definition at line 24 of file gnss_messages_topcon.h.

Referenced by dumpToStream(), internal_readFromStream(), internal_writeToStream(), and mrpt::obs::CObservationGPS::readFromStream().

◆ message_type

gnss_message_type_t mrpt::obs::gnss::gnss_message::message_type

inherited

Type of GNSS message.

Definition at line 25 of file gnss_messages_common.h.

Referenced by mrpt::hwdrivers::CGPSInterface::implement_parser_NOVATEL_OEM6(), and mrpt::obs::CObservationGPS::readFromStream().

◆ nId

uint8_t mrpt::obs::gnss::Message_TOPCON_PZS::nId

ID of the transmitter [1-4], 0 if none.

Definition at line 29 of file gnss_messages_topcon.h.

Referenced by dumpToStream(), internal_readFromStream(), internal_writeToStream(), and mrpt::obs::CObservationGPS::readFromStream().

◆ pos_covariance

mrpt::math::CMatrixFloat44 mrpt::obs::gnss::Message_TOPCON_PZS::pos_covariance

Only if hasPosCov is true.

Definition at line 40 of file gnss_messages_topcon.h.

Referenced by dumpToStream(), internal_readFromStream(), internal_writeToStream(), and mrpt::obs::CObservationGPS::readFromStream().

◆ PSigma

float mrpt::obs::gnss::Message_TOPCON_PZS::PSigma

position SEP [m]

Definition at line 27 of file gnss_messages_topcon.h.

Referenced by internal_readFromStream(), internal_writeToStream(), and mrpt::obs::CObservationGPS::readFromStream().

◆ RTK_height_meters

double mrpt::obs::gnss::Message_TOPCON_PZS::RTK_height_meters

ellipsoidal height [m] without N-beam correction

Definition at line 26 of file gnss_messages_topcon.h.

Referenced by dumpToStream(), internal_readFromStream(), internal_writeToStream(), and mrpt::obs::CObservationGPS::readFromStream().

◆ RXBattery

uint8_t mrpt::obs::gnss::Message_TOPCON_PZS::RXBattery

battery level on receiver

Definition at line 32 of file gnss_messages_topcon.h.

Referenced by dumpToStream(), internal_readFromStream(), internal_writeToStream(), and mrpt::obs::CObservationGPS::readFromStream().

◆ stats_GLONASS_sats_used

uint8_t mrpt::obs::gnss::Message_TOPCON_PZS::stats_GLONASS_sats_used

Definition at line 46 of file gnss_messages_topcon.h.

Referenced by dumpToStream(), internal_readFromStream(), internal_writeToStream(), and mrpt::obs::CObservationGPS::readFromStream().

◆ stats_GPS_sats_used

uint8_t mrpt::obs::gnss::Message_TOPCON_PZS::stats_GPS_sats_used

Definition at line 46 of file gnss_messages_topcon.h.

Referenced by dumpToStream(), internal_readFromStream(), internal_writeToStream(), and mrpt::obs::CObservationGPS::readFromStream().

◆ stats_rtk_fix_progress

uint8_t mrpt::obs::gnss::Message_TOPCON_PZS::stats_rtk_fix_progress

[0,100] %, only in modes other than RTK FIXED.

Definition at line 47 of file gnss_messages_topcon.h.

Referenced by dumpToStream(), internal_readFromStream(), internal_writeToStream(), and mrpt::obs::CObservationGPS::readFromStream().

◆ TXBattery

uint8_t mrpt::obs::gnss::Message_TOPCON_PZS::TXBattery

battery level on transmitter

Definition at line 31 of file gnss_messages_topcon.h.

Referenced by dumpToStream(), internal_readFromStream(), internal_writeToStream(), and mrpt::obs::CObservationGPS::readFromStream().

◆ vel_covariance

mrpt::math::CMatrixFloat44 mrpt::obs::gnss::Message_TOPCON_PZS::vel_covariance

Only if hasPosCov is true.

Definition at line 43 of file gnss_messages_topcon.h.

Referenced by dumpToStream(), internal_readFromStream(), internal_writeToStream(), and mrpt::obs::CObservationGPS::readFromStream().

Detailed Description

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Member Enumeration Documentation

◆ anonymous enum

Constructor & Destructor Documentation

◆ Message_TOPCON_PZS()

Member Function Documentation

◆ dumpToConsole()

◆ dumpToStream()

◆ Factory()

◆ FactoryKnowsMsgType()

◆ getAllFieldDescriptions()

◆ getAllFieldValues()

◆ getAsStruct()

◆ getMessageTypeAsString()

◆ internal_readFromStream()

◆ internal_writeToStream()

◆ isOfClass()

◆ isOfType()

◆ readAndBuildFromStream()

◆ readFromStream()

◆ writeToStream()

Member Data Documentation

◆ angle_transmitter

◆ cartesian_vx

◆ cartesian_vy

◆ cartesian_vz

◆ cartesian_x

◆ cartesian_y

◆ cartesian_z

◆ error

◆ Fix

◆ hasCartesianPosVel

◆ hasPosCov

◆ hasStats

◆ hasVelCov

◆ height_meters

◆ latitude_degrees

◆ longitude_degrees

◆ message_type

◆ nId

◆ pos_covariance

◆ PSigma

◆ RTK_height_meters

◆ RXBattery

◆ stats_GLONASS_sats_used

◆ stats_GPS_sats_used

◆ stats_rtk_fix_progress

◆ TXBattery

◆ vel_covariance