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mrpt::hwdrivers::CGPSInterface Class Referenceabstract

Detailed Description

A parser of NMEA commands, for connecting to a GPS by a serial port.

This class also supports more advanced GPS equipped with RTK corrections. See the JAVAD/TopCon extra initialization parameters.

PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
-------------------------------------------------------
[supplied_section_name]
COM_port_WIN = COM3
COM_port_LIN = ttyS0
baudRate = 4800 // The baudrate of the communications (typ. 4800 bauds)
pose_x = 0 // 3D position of the sensed point relative to the robot (meters)
pose_y = 0
pose_z = 0
customInit = // See below for possible values
// The next parameters are optional and will be used only
// if customInit=="JAVAD" to enable/configure the usage of RTK corrections:
//JAVAD_rtk_src_port=/dev/ser/b
//JAVAD_rtk_src_baud=9600
//JAVAD_rtk_format=cmr

Definition at line 63 of file CGPSInterface.h.

#include <mrpt/hwdrivers/CGPSInterface.h>

Inheritance diagram for mrpt::hwdrivers::CGPSInterface:
Inheritance graph

Public Types

enum  TSensorState { ssInitializing = 0, ssWorking, ssError }
 The current state of the sensor. More...
 
typedef std::multimap< mrpt::system::TTimeStamp, mrpt::utils::CSerializablePtrTListObservations
 
typedef std::pair< mrpt::system::TTimeStamp, mrpt::utils::CSerializablePtrTListObsPair
 

Public Member Functions

 CGPSInterface (int BUFFER_LENGTH=500, mrpt::hwdrivers::CSerialPort *outPort=NULL, mrpt::synch::CCriticalSection *csOutPort=NULL)
 Constructor. More...
 
virtual ~CGPSInterface ()
 Destructor. More...
 
void doProcess ()
 This method will be invoked at a minimum rate of "process_rate" (Hz) More...
 
bool isGPS_connected ()
 Returns true if communications work. More...
 
bool isGPS_signalAcquired ()
 Returns true if the last message from the GPS indicates that the signal from sats has been acquired. More...
 
void setSerialPortName (const std::string &COM_port)
 Set the serial port to use (COM1, ttyUSB0, etc). More...
 
std::string getSerialPortName () const
 Get the serial port to use (COM1, ttyUSB0, etc). More...
 
void setExternCOM (CSerialPort *outPort, mrpt::synch::CCriticalSection *csOutPort)
 
bool isAIMConfigured ()
 
std::string getLastGGA (bool reset=true)
 Gets the latest GGA command or an empty string if no newer GGA command was received since the last call to this method. More...
 
virtual const mrpt::hwdrivers::TSensorClassIdGetRuntimeClass () const =0
 
TSensorState getState () const
 The current state of the sensor. More...
 
double getProcessRate () const
 
std::string getSensorLabel () const
 
void setSensorLabel (const std::string &sensorLabel)
 
void enableVerbose (bool enabled=true)
 Enable or disable extra debug info dumped to std::cout during sensor operation. More...
 
bool isVerboseEnabled () const
 
void loadConfig (const mrpt::utils::CConfigFileBase &configSource, const std::string &section)
 Loads the generic settings common to any sensor (See CGenericSensor), then call to "loadConfig_sensorSpecific". More...
 
virtual void initialize ()
 This method can or cannot be implemented in the derived class, depending on the need for it. More...
 
void getObservations (TListObservations &lstObjects)
 Returns a list of enqueued objects, emptying it (thread-safe). More...
 
virtual void setPathForExternalImages (const std::string &directory)
 Set the path where to save off-rawlog image files (will be ignored in those sensors where this is not applicable). More...
 
void setExternalImageFormat (const std::string &ext)
 Set the extension ("jpg","gif","png",...) that determines the format of images saved externally The default is "jpg". More...
 
void setExternalImageJPEGQuality (const unsigned int quality)
 The quality of JPEG compression, when external images is enabled and the format is "jpg". More...
 
unsigned int getExternalImageJPEGQuality () const
 

Static Public Member Functions

static bool parse_NMEA (const std::string &cmd_line, mrpt::obs::CObservationGPS &out_obs, const bool verbose=false)
 Parses one line of NMEA data from a GPS receiver, and writes the recognized fields (if any) into an observation object. More...
 
static void printf_debug (const char *frmt,...)
 Sends a formated text to "debugOut" if not NULL, or to cout otherwise. More...
 
static void registerClass (const TSensorClassId *pNewClass)
 Register a class into the internal list of "CGenericSensor" descendents. More...
 
static CGenericSensorcreateSensor (const std::string &className)
 Creates a sensor by a name of the class. More...
 
static CGenericSensorPtr createSensorPtr (const std::string &className)
 Just like createSensor, but returning a smart pointer to the newly created sensor object. More...
 

Protected Member Functions

bool OnConnectionEstablished ()
 Implements custom messages to be sent to the GPS unit just after connection and before normal use. More...
 
void loadConfig_sensorSpecific (const mrpt::utils::CConfigFileBase &configSource, const std::string &iniSection)
 See the class documentation at the top for expected parameters. More...
 
void setJAVAD_rtk_src_port (const std::string &s)
 If not empty, will send a cmd "set,/par/pos/pd/port,...". More...
 
void setJAVAD_rtk_src_baud (unsigned int baud)
 Only used when "m_JAVAD_rtk_src_port" is not empty. More...
 
void setJAVAD_rtk_format (const std::string &s)
 Only used when "m_JAVAD_rtk_src_port" is not empty: format of RTK corrections: "cmr", "rtcm", "rtcm3", etc. More...
 
bool setJAVAD_AIM_mode ()
 Set Advanced Input Mode for the primary port. More...
 
bool unsetJAVAD_AIM_mode ()
 Unset Advanced Input Mode for the primary port and use it only as a command port. More...
 
bool useExternCOM () const
 
void appendObservations (const std::vector< mrpt::utils::CSerializablePtr > &obj)
 This method must be called by derived classes to enqueue a new observation in the list to be returned by getObservations. More...
 
void appendObservation (const mrpt::utils::CSerializablePtr &obj)
 Like appendObservations() but for just one observation. More...
 

Protected Attributes

CSerialPort m_COM
 
CSerialPortm_out_COM
 
mrpt::synch::CCriticalSectionm_cs_out_COM
 
poses::CPoint3D m_sensorPose
 
std::string m_customInit
 
size_t m_grab_decimation_counter
 Used when "m_grab_decimation" is enabled. More...
 
TSensorState m_state
 
bool m_verbose
 
std::string m_path_for_external_images
 The path where to save off-rawlog images: empty means save images embedded in the rawlog. More...
 
std::string m_external_images_format
 The extension ("jpg","gif","png",...) that determines the format of images saved externally. More...
 
unsigned int m_external_images_jpeg_quality
 For JPEG images, the quality (default=95%). More...
 
Common settings to any sensor, loaded in "loadConfig"
double m_process_rate
 See CGenericSensor. More...
 
size_t m_max_queue_len
 See CGenericSensor. More...
 
size_t m_grab_decimation
 If set to N>=2, only 1 out of N observations will be saved to m_objList. More...
 
std::string m_sensorLabel
 See CGenericSensor. More...
 

Private Member Functions

bool tryToOpenTheCOM ()
 Returns true if the COM port is already open, or try to open it in other case. More...
 
void processBuffer ()
 Process data in "m_buffer" to extract GPS messages, and remove them from the buffer. More...
 
void processGPSstring (const std::string &s)
 Process a complete string from the GPS: More...
 
void JAVAD_sendMessage (const char *str, bool waitForAnswer=true)
 Private auxiliary method. Raises exception on error. More...
 

Private Attributes

std::string m_COMname
 
int m_COMbauds
 
bool m_GPS_comsWork
 
bool m_GPS_signalAcquired
 
int m_BUFFER_LENGTH
 
char * m_buffer
 
size_t m_bufferLength
 
size_t m_bufferWritePos
 
std::string m_JAVAD_rtk_src_port
 If not empty, will send a cmd "set,/par/pos/pd/port,...". Example value: "/dev/ser/b". More...
 
unsigned int m_JAVAD_rtk_src_baud
 Only used when "m_JAVAD_rtk_src_port" is not empty. More...
 
std::string m_JAVAD_rtk_format
 Only used when "m_JAVAD_rtk_src_port" is not empty: format of RTK corrections: "cmr", "rtcm", "rtcm3", etc. More...
 
bool m_useAIMMode
 Use this mode for receive RTK corrections from a external source through the primary port. More...
 
mrpt::system::TTimeStamp m_last_timestamp
 
bool m_AIMConfigured
 Indicates if the AIM has been properly set up. More...
 
double m_data_period
 The period in seconds which the data should be provided by the GPS. More...
 
mrpt::obs::CObservationGPS m_latestGPS_data
 
mrpt::obs::CObservationGPS::TUTCTime m_last_UTC_time
 
std::string m_last_GGA
 Used in getLastGGA() More...
 

Member Typedef Documentation

§ TListObservations

Definition at line 68 of file CGenericSensor.h.

§ TListObsPair

Definition at line 69 of file CGenericSensor.h.

Member Enumeration Documentation

§ TSensorState

The current state of the sensor.

See also
CGenericSensor::getState
Enumerator
ssInitializing 
ssWorking 
ssError 

Definition at line 74 of file CGenericSensor.h.

Constructor & Destructor Documentation

§ CGPSInterface()

mrpt::hwdrivers::CGPSInterface::CGPSInterface ( int  BUFFER_LENGTH = 500,
mrpt::hwdrivers::CSerialPort outPort = NULL,
mrpt::synch::CCriticalSection csOutPort = NULL 
)

Constructor.

Parameters
BUFFER_LENGTHThe size of the communications buffer (default value should be fine always)

§ ~CGPSInterface()

virtual mrpt::hwdrivers::CGPSInterface::~CGPSInterface ( )
virtual

Destructor.

Member Function Documentation

§ appendObservation()

void mrpt::hwdrivers::CGenericSensor::appendObservation ( const mrpt::utils::CSerializablePtr obj)
inlineprotectedinherited

Like appendObservations() but for just one observation.

Definition at line 146 of file CGenericSensor.h.

§ appendObservations()

void mrpt::hwdrivers::CGenericSensor::appendObservations ( const std::vector< mrpt::utils::CSerializablePtr > &  obj)
protectedinherited

This method must be called by derived classes to enqueue a new observation in the list to be returned by getObservations.

Passed objects must be created in dynamic memory and a smart pointer passed. Example of creation:

mrpt::obs::CObservationGPSPtr o = CObservationGPSPtr( new CObservationGPS() );
o-> .... // Set data

If several observations are passed at once in the vector, they'll be considered as a block regarding the grabbing decimation factor.

§ createSensor()

static CGenericSensor* mrpt::hwdrivers::CGenericSensor::createSensor ( const std::string &  className)
staticinherited

Creates a sensor by a name of the class.

Typically the user may want to create a smart pointer around the returned pointer, whis is made with:

Returns
A pointer to a new class, or NULL if class name is unknown.

§ createSensorPtr()

static CGenericSensorPtr mrpt::hwdrivers::CGenericSensor::createSensorPtr ( const std::string &  className)
inlinestaticinherited

Just like createSensor, but returning a smart pointer to the newly created sensor object.

Definition at line 179 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor.

§ doProcess()

void mrpt::hwdrivers::CGPSInterface::doProcess ( )
virtual

This method will be invoked at a minimum rate of "process_rate" (Hz)

Exceptions
Thismethod must throw an exception with a descriptive message if some critical error is found.

Implements mrpt::hwdrivers::CGenericSensor.

§ enableVerbose()

void mrpt::hwdrivers::CGenericSensor::enableVerbose ( bool  enabled = true)
inlineinherited

Enable or disable extra debug info dumped to std::cout during sensor operation.

Default: disabled unless the environment variable "MRPT_HWDRIVERS_VERBOSE" is set to "1" during object creation.

Definition at line 92 of file CGenericSensor.h.

§ getExternalImageJPEGQuality()

unsigned int mrpt::hwdrivers::CGenericSensor::getExternalImageJPEGQuality ( ) const
inlineinherited

Definition at line 233 of file CGenericSensor.h.

References MRPT_MAKE_ALIGNED_OPERATOR_NEW.

§ getLastGGA()

std::string mrpt::hwdrivers::CGPSInterface::getLastGGA ( bool  reset = true)

Gets the latest GGA command or an empty string if no newer GGA command was received since the last call to this method.

Parameters
[in]resetIf set to true, will empty the GGA cache so next calls will return an empty string if no new frame is received.

§ getObservations()

void mrpt::hwdrivers::CGenericSensor::getObservations ( TListObservations lstObjects)
inherited

Returns a list of enqueued objects, emptying it (thread-safe).

The objects must be freed by the invoker.

§ getProcessRate()

double mrpt::hwdrivers::CGenericSensor::getProcessRate ( ) const
inlineinherited

Definition at line 84 of file CGenericSensor.h.

§ GetRuntimeClass()

virtual const mrpt::hwdrivers::TSensorClassId* mrpt::hwdrivers::CGenericSensor::GetRuntimeClass ( ) const
pure virtualinherited

§ getSensorLabel()

std::string mrpt::hwdrivers::CGenericSensor::getSensorLabel ( ) const
inlineinherited

Definition at line 86 of file CGenericSensor.h.

§ getSerialPortName()

std::string mrpt::hwdrivers::CGPSInterface::getSerialPortName ( ) const

Get the serial port to use (COM1, ttyUSB0, etc).

§ getState()

TSensorState mrpt::hwdrivers::CGenericSensor::getState ( ) const
inlineinherited

The current state of the sensor.

Definition at line 82 of file CGenericSensor.h.

§ initialize()

virtual void mrpt::hwdrivers::CGenericSensor::initialize ( )
inlinevirtualinherited

§ isAIMConfigured()

bool mrpt::hwdrivers::CGPSInterface::isAIMConfigured ( )
inline

Definition at line 94 of file CGPSInterface.h.

§ isGPS_connected()

bool mrpt::hwdrivers::CGPSInterface::isGPS_connected ( )

Returns true if communications work.

§ isGPS_signalAcquired()

bool mrpt::hwdrivers::CGPSInterface::isGPS_signalAcquired ( )

Returns true if the last message from the GPS indicates that the signal from sats has been acquired.

§ isVerboseEnabled()

bool mrpt::hwdrivers::CGenericSensor::isVerboseEnabled ( ) const
inlineinherited

Definition at line 93 of file CGenericSensor.h.

References mrpt::utils::registerClass().

§ JAVAD_sendMessage()

void mrpt::hwdrivers::CGPSInterface::JAVAD_sendMessage ( const char *  str,
bool  waitForAnswer = true 
)
private

Private auxiliary method. Raises exception on error.

§ loadConfig()

void mrpt::hwdrivers::CGenericSensor::loadConfig ( const mrpt::utils::CConfigFileBase configSource,
const std::string &  section 
)
inherited

Loads the generic settings common to any sensor (See CGenericSensor), then call to "loadConfig_sensorSpecific".

Exceptions
Thismethod throws an exception with a descriptive message if some critical parameter is missing or has an invalid value.

§ loadConfig_sensorSpecific()

void mrpt::hwdrivers::CGPSInterface::loadConfig_sensorSpecific ( const mrpt::utils::CConfigFileBase configSource,
const std::string &  iniSection 
)
protectedvirtual

See the class documentation at the top for expected parameters.

Implements mrpt::hwdrivers::CGenericSensor.

§ OnConnectionEstablished()

bool mrpt::hwdrivers::CGPSInterface::OnConnectionEstablished ( )
protected

Implements custom messages to be sent to the GPS unit just after connection and before normal use.

Returns false or raise an exception if something goes wrong.

§ parse_NMEA()

static bool mrpt::hwdrivers::CGPSInterface::parse_NMEA ( const std::string &  cmd_line,
mrpt::obs::CObservationGPS out_obs,
const bool  verbose = false 
)
static

Parses one line of NMEA data from a GPS receiver, and writes the recognized fields (if any) into an observation object.

Recognized frame types are: "GGA" and "RMC".

Returns
true if some new data field has been correctly parsed and inserted into out_obs

§ printf_debug()

static void mrpt::utils::CDebugOutputCapable::printf_debug ( const char *  frmt,
  ... 
)
staticinherited

Sends a formated text to "debugOut" if not NULL, or to cout otherwise.

Referenced by mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute().

§ processBuffer()

void mrpt::hwdrivers::CGPSInterface::processBuffer ( )
private

Process data in "m_buffer" to extract GPS messages, and remove them from the buffer.

§ processGPSstring()

void mrpt::hwdrivers::CGPSInterface::processGPSstring ( const std::string &  s)
private

Process a complete string from the GPS:

§ registerClass()

static void mrpt::hwdrivers::CGenericSensor::registerClass ( const TSensorClassId pNewClass)
staticinherited

Register a class into the internal list of "CGenericSensor" descendents.

Used internally in the macros DEFINE_GENERIC_SENSOR, etc...

Can be used as "CGenericSensor::registerClass( SENSOR_CLASS_ID(CMySensor) );" if building custom sensors outside mrpt libraries in user code.

Referenced by mrpt::hwdrivers::CGenericSensor::CLASSINIT_GENERIC_SENSOR::CLASSINIT_GENERIC_SENSOR().

§ setExternalImageFormat()

void mrpt::hwdrivers::CGenericSensor::setExternalImageFormat ( const std::string &  ext)
inlineinherited

Set the extension ("jpg","gif","png",...) that determines the format of images saved externally The default is "jpg".

See also
setPathForExternalImages, setExternalImageJPEGQuality

Definition at line 225 of file CGenericSensor.h.

§ setExternalImageJPEGQuality()

void mrpt::hwdrivers::CGenericSensor::setExternalImageJPEGQuality ( const unsigned int  quality)
inlineinherited

The quality of JPEG compression, when external images is enabled and the format is "jpg".

See also
setExternalImageFormat

Definition at line 230 of file CGenericSensor.h.

§ setExternCOM()

void mrpt::hwdrivers::CGPSInterface::setExternCOM ( CSerialPort outPort,
mrpt::synch::CCriticalSection csOutPort 
)
inline

Definition at line 91 of file CGPSInterface.h.

§ setJAVAD_AIM_mode()

bool mrpt::hwdrivers::CGPSInterface::setJAVAD_AIM_mode ( )
protected

Set Advanced Input Mode for the primary port.

This can be used to send RTK corrections to the device using the same port that it's used for the commands. The RTK correction stream must be re-packaged into a special frame with prefix ">>"

§ setJAVAD_rtk_format()

void mrpt::hwdrivers::CGPSInterface::setJAVAD_rtk_format ( const std::string &  s)
inlineprotected

Only used when "m_JAVAD_rtk_src_port" is not empty: format of RTK corrections: "cmr", "rtcm", "rtcm3", etc.

Definition at line 136 of file CGPSInterface.h.

§ setJAVAD_rtk_src_baud()

void mrpt::hwdrivers::CGPSInterface::setJAVAD_rtk_src_baud ( unsigned int  baud)
inlineprotected

Only used when "m_JAVAD_rtk_src_port" is not empty.

Definition at line 133 of file CGPSInterface.h.

§ setJAVAD_rtk_src_port()

void mrpt::hwdrivers::CGPSInterface::setJAVAD_rtk_src_port ( const std::string &  s)
inlineprotected

If not empty, will send a cmd "set,/par/pos/pd/port,...".

Example value: "/dev/ser/b"

Definition at line 130 of file CGPSInterface.h.

§ setPathForExternalImages()

virtual void mrpt::hwdrivers::CGenericSensor::setPathForExternalImages ( const std::string &  directory)
inlinevirtualinherited

Set the path where to save off-rawlog image files (will be ignored in those sensors where this is not applicable).

An empty string (the default value at construction) means to save images embedded in the rawlog, instead of on separate files.

Exceptions
std::exceptionIf the directory doesn't exists and cannot be created.

Reimplemented in mrpt::hwdrivers::CCameraSensor, mrpt::hwdrivers::CKinect, mrpt::hwdrivers::COpenNI2Sensor, mrpt::hwdrivers::COpenNI2_RGBD360, and mrpt::hwdrivers::CSwissRanger3DCamera.

Definition at line 216 of file CGenericSensor.h.

References MRPT_UNUSED_PARAM.

§ setSensorLabel()

void mrpt::hwdrivers::CGenericSensor::setSensorLabel ( const std::string &  sensorLabel)
inlineinherited

Definition at line 87 of file CGenericSensor.h.

§ setSerialPortName()

void mrpt::hwdrivers::CGPSInterface::setSerialPortName ( const std::string &  COM_port)

Set the serial port to use (COM1, ttyUSB0, etc).

§ tryToOpenTheCOM()

bool mrpt::hwdrivers::CGPSInterface::tryToOpenTheCOM ( )
private

Returns true if the COM port is already open, or try to open it in other case.

Returns
true if everything goes OK, or false if there are problems opening the port.

§ unsetJAVAD_AIM_mode()

bool mrpt::hwdrivers::CGPSInterface::unsetJAVAD_AIM_mode ( )
protected

Unset Advanced Input Mode for the primary port and use it only as a command port.

§ useExternCOM()

bool mrpt::hwdrivers::CGPSInterface::useExternCOM ( ) const
inlineprotected

Definition at line 147 of file CGPSInterface.h.

Member Data Documentation

§ m_AIMConfigured

bool mrpt::hwdrivers::CGPSInterface::m_AIMConfigured
private

Indicates if the AIM has been properly set up.

Definition at line 171 of file CGPSInterface.h.

§ m_buffer

char* mrpt::hwdrivers::CGPSInterface::m_buffer
private

Definition at line 157 of file CGPSInterface.h.

§ m_BUFFER_LENGTH

int mrpt::hwdrivers::CGPSInterface::m_BUFFER_LENGTH
private

Definition at line 155 of file CGPSInterface.h.

§ m_bufferLength

size_t mrpt::hwdrivers::CGPSInterface::m_bufferLength
private

Definition at line 158 of file CGPSInterface.h.

§ m_bufferWritePos

size_t mrpt::hwdrivers::CGPSInterface::m_bufferWritePos
private

Definition at line 159 of file CGPSInterface.h.

§ m_COM

CSerialPort mrpt::hwdrivers::CGPSInterface::m_COM
protected

Definition at line 113 of file CGPSInterface.h.

§ m_COMbauds

int mrpt::hwdrivers::CGPSInterface::m_COMbauds
private

Definition at line 152 of file CGPSInterface.h.

§ m_COMname

std::string mrpt::hwdrivers::CGPSInterface::m_COMname
private

Definition at line 151 of file CGPSInterface.h.

§ m_cs_out_COM

mrpt::synch::CCriticalSection* mrpt::hwdrivers::CGPSInterface::m_cs_out_COM
protected

Definition at line 117 of file CGPSInterface.h.

§ m_customInit

std::string mrpt::hwdrivers::CGPSInterface::m_customInit
protected

Definition at line 122 of file CGPSInterface.h.

§ m_data_period

double mrpt::hwdrivers::CGPSInterface::m_data_period
private

The period in seconds which the data should be provided by the GPS.

Definition at line 172 of file CGPSInterface.h.

§ m_external_images_format

std::string mrpt::hwdrivers::CGenericSensor::m_external_images_format
protectedinherited

The extension ("jpg","gif","png",...) that determines the format of images saved externally.

See also
setPathForExternalImages

Definition at line 130 of file CGenericSensor.h.

§ m_external_images_jpeg_quality

unsigned int mrpt::hwdrivers::CGenericSensor::m_external_images_jpeg_quality
protectedinherited

For JPEG images, the quality (default=95%).

Definition at line 131 of file CGenericSensor.h.

§ m_GPS_comsWork

bool mrpt::hwdrivers::CGPSInterface::m_GPS_comsWork
private

Definition at line 153 of file CGPSInterface.h.

§ m_GPS_signalAcquired

bool mrpt::hwdrivers::CGPSInterface::m_GPS_signalAcquired
private

Definition at line 154 of file CGPSInterface.h.

§ m_grab_decimation

size_t mrpt::hwdrivers::CGenericSensor::m_grab_decimation
protectedinherited

If set to N>=2, only 1 out of N observations will be saved to m_objList.

Definition at line 117 of file CGenericSensor.h.

§ m_grab_decimation_counter

size_t mrpt::hwdrivers::CGenericSensor::m_grab_decimation_counter
protectedinherited

Used when "m_grab_decimation" is enabled.

Definition at line 122 of file CGenericSensor.h.

§ m_JAVAD_rtk_format

std::string mrpt::hwdrivers::CGPSInterface::m_JAVAD_rtk_format
private

Only used when "m_JAVAD_rtk_src_port" is not empty: format of RTK corrections: "cmr", "rtcm", "rtcm3", etc.

Definition at line 163 of file CGPSInterface.h.

§ m_JAVAD_rtk_src_baud

unsigned int mrpt::hwdrivers::CGPSInterface::m_JAVAD_rtk_src_baud
private

Only used when "m_JAVAD_rtk_src_port" is not empty.

Definition at line 162 of file CGPSInterface.h.

§ m_JAVAD_rtk_src_port

std::string mrpt::hwdrivers::CGPSInterface::m_JAVAD_rtk_src_port
private

If not empty, will send a cmd "set,/par/pos/pd/port,...". Example value: "/dev/ser/b".

Definition at line 161 of file CGPSInterface.h.

§ m_last_GGA

std::string mrpt::hwdrivers::CGPSInterface::m_last_GGA
private

Used in getLastGGA()

Definition at line 193 of file CGPSInterface.h.

§ m_last_timestamp

mrpt::system::TTimeStamp mrpt::hwdrivers::CGPSInterface::m_last_timestamp
private

Definition at line 168 of file CGPSInterface.h.

§ m_last_UTC_time

mrpt::obs::CObservationGPS::TUTCTime mrpt::hwdrivers::CGPSInterface::m_last_UTC_time
private

Definition at line 191 of file CGPSInterface.h.

§ m_latestGPS_data

mrpt::obs::CObservationGPS mrpt::hwdrivers::CGPSInterface::m_latestGPS_data
private

Definition at line 190 of file CGPSInterface.h.

§ m_max_queue_len

size_t mrpt::hwdrivers::CGenericSensor::m_max_queue_len
protectedinherited

See CGenericSensor.

Definition at line 116 of file CGenericSensor.h.

§ m_out_COM

CSerialPort* mrpt::hwdrivers::CGPSInterface::m_out_COM
protected

Definition at line 116 of file CGPSInterface.h.

§ m_path_for_external_images

std::string mrpt::hwdrivers::CGenericSensor::m_path_for_external_images
protectedinherited

The path where to save off-rawlog images: empty means save images embedded in the rawlog.

Definition at line 129 of file CGenericSensor.h.

§ m_process_rate

double mrpt::hwdrivers::CGenericSensor::m_process_rate
protectedinherited

See CGenericSensor.

Definition at line 115 of file CGenericSensor.h.

§ m_sensorLabel

std::string mrpt::hwdrivers::CGenericSensor::m_sensorLabel
protectedinherited

See CGenericSensor.

Definition at line 118 of file CGenericSensor.h.

§ m_sensorPose

poses::CPoint3D mrpt::hwdrivers::CGPSInterface::m_sensorPose
protected

Definition at line 120 of file CGPSInterface.h.

§ m_state

TSensorState mrpt::hwdrivers::CGenericSensor::m_state
protectedinherited

Definition at line 124 of file CGenericSensor.h.

§ m_useAIMMode

bool mrpt::hwdrivers::CGPSInterface::m_useAIMMode
private

Use this mode for receive RTK corrections from a external source through the primary port.

Definition at line 166 of file CGPSInterface.h.

§ m_verbose

bool mrpt::hwdrivers::CGenericSensor::m_verbose
protectedinherited

Definition at line 125 of file CGenericSensor.h.




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