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CGPS_NTRIP.h
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1 /* +---------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | http://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file |
6  | See: http://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See details in http://www.mrpt.org/License |
8  +---------------------------------------------------------------------------+ */
9 
10 #pragma once
11 
15 
16 namespace mrpt
17 {
18  namespace hwdrivers
19  {
20  /** A combination of GPS receiver + NTRIP receiver capable of submitting GGA frames to enable RTCM 3.0.
21  * This class holds instances of two classes, publicly exposed as member variables:
22  * - mrpt::hwdrivers::CGPSInterface gps;
23  * - mrpt::hwdrivers::CNTRIPEmitter ntrip;
24  *
25  * and acts as a "joint sensor", calling both objects' doProcess() inside the doProcess() loop, etc.
26  *
27  * The goal of this class is automatically gather GGA frames from the gps sensor and upload them to the NTRIP server.
28  *
29  * Configuration file format is a combination of the original parameters for both classes, each with
30  * a prefix: "gps_" for CGPSInterface params and "ntrip_" for CNTRIPEmitter.
31  *
32  * \code
33  * PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
34  * -------------------------------------------------------
35  * [supplied_section_name]
36  * gps_COM_port_WIN = COM3
37  * gps_COM_port_LIN = ttyS0
38  * gps_baudRate = 4800 // The baudrate of the communications (typ. 4800 bauds)
39  * gps_pose_x = 0 // 3D position of the sensed point relative to the robot (meters)
40  * gps_pose_y = 0
41  * gps_pose_z = 0
42  * # Other params (see CGPSInterface)
43  *
44  * ntrip_COM_port_WIN = COM1 // Serial port where the NTRIP stream will be dumped to.
45  * ntrip_COM_port_LIN = ttyUSB0
46  * ntrip_baudRate = 38400
47  *
48  * ntrip_server = 143.123.9.129 // NTRIP caster IP
49  * ntrip_port = 2101
50  * ntrip_mountpoint = MYPOINT23
51  * #ntrip_user = pepe // User & password optional.
52  * #ntrip_password = loco
53  *
54  * \endcode
55  *
56  * The next picture summarizes existing MRPT classes related to GPS / GNSS devices (CGPSInterface, CNTRIPEmitter, CGPS_NTRIP):
57  *
58  * <div align=center> <img src="mrpt_gps_classes_usage.png"> </div>
59  *
60  * \note Verbose debug info will be dumped to cout if the environment variable "MRPT_HWDRIVERS_VERBOSE" is set to "1", or if you call CGenericSensor::enableVerbose(true)
61  *
62  * \ingroup mrpt_hwdrivers_grp
63  * \sa CGPSInterface, CNTRIPEmitter
64  */
66  {
68 
69  public:
72 
73  CGPS_NTRIP(); //!< Constructor
74  virtual ~CGPS_NTRIP(); //!< Destructor
75 
76  void doProcess(); // See docs in parent class
77 
78  virtual void initialize();
79  protected:
80  /** See the class documentation at the top for expected parameters */
81  void loadConfig_sensorSpecific( const mrpt::utils::CConfigFileBase &configSource, const std::string &iniSection );
82  }; // end class
83 
84  } // end namespace
85 } // end namespace
A generic interface for a wide-variety of sensors designed to be used in the application RawLogGrabbe...
A class capable of reading GPS/GNSS/GNSS+IMU receiver data, from a serial port or from any input stre...
This class allows loading and storing values and vectors of different types from a configuration text...
mrpt::hwdrivers::CGPSInterface gps
Definition: CGPS_NTRIP.h:70
GLsizei const GLchar ** string
Definition: glext.h:3919
#define DEFINE_GENERIC_SENSOR(class_name)
This declaration must be inserted in all CGenericSensor classes definition, within the class declarat...
A combination of GPS receiver + NTRIP receiver capable of submitting GGA frames to enable RTCM 3...
Definition: CGPS_NTRIP.h:65
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
This "virtual driver" encapsulates a NTRIP client (see CNTRIPClient) but adds the functionality of du...
Definition: CNTRIPEmitter.h:54
mrpt::hwdrivers::CNTRIPEmitter ntrip
Definition: CGPS_NTRIP.h:71



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