A class capable of reading GPS/GNSS/GNSS+IMU receiver data, from a serial port or from any input stream, and parsing the ASCII/binary stream into indivual messages stored in mrpt::obs::CObservationGPS objects.
Typical input streams are serial ports or raw GPS log files. By default, the serial port selected by CGPSInterface::setSerialPortName() or as set in the configuration file will be open upon call to CGenericSensor::initialize(). Alternatively, an external stream can be bound with CGPSInterface::bindStream() before calling CGenericSensor::initialize(). This feature can be used to parse commands from a file, a TCP/IP stream, a memory block, etc.
The parsers in the enum type CGPSInterface::PARSERS are supported as parameter parser
in the configuration file below or in method CGPSInterface::setParser():
NONE
: Do not try to parse the messages into CObservation's. Only useful if combined with raw_dump_file_prefix
AUTO
: Try to automatically identify the format of incomming data.NMEA
(NMEA 0183, ASCII messages): Default parser. Supported frames: GGA, RMC,... See full list of messages in children of mrpt::obs::gnss::gnss_messageNOVATEL_OEM6
(Novatel OEM6, binary frames): Supported frames: BESTPOS,... Note that receiving a correct IONUTC msg is required for a correct timestamping of subsequent frames. See full list of messages in children of mrpt::obs::gnss::gnss_messageSee available parameters below, and an example config file for rawlog-grabber here
Note that the customInit
field, supported in MRPT <1.4.0 will be still parsed and obeyed, but since it has been superseded by the new mechanism to establish set-up commands, it is no further documented here.
The next picture summarizes existing MRPT classes related to GPS / GNSS devices (CGPSInterface, CNTRIPEmitter, CGPS_NTRIP):
VERSIONS HISTORY:
01/FEB/2016: API changed for MTPT 1.4.0
Definition at line 110 of file CGPSInterface.h.
#include <mrpt/hwdrivers/CGPSInterface.h>
Public Types | |
enum | PARSERS { NONE = -2 , AUTO = -1 , NMEA = 0 , NOVATEL_OEM6 } |
Read about parser selection in the documentation for CGPSInterface. More... | |
typedef bool(CGPSInterface::* | ptr_parser_t) (size_t &out_minimum_rx_buf_to_decide) |
enum | TSensorState { ssInitializing = 0 , ssWorking , ssError } |
The current state of the sensor. More... | |
typedef std::multimap< mrpt::system::TTimeStamp, mrpt::utils::CSerializablePtr > | TListObservations |
typedef std::pair< mrpt::system::TTimeStamp, mrpt::utils::CSerializablePtr > | TListObsPair |
Public Member Functions | |
CGPSInterface () | |
Default ctor. More... | |
virtual | ~CGPSInterface () |
Dtor. 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, i.e. if some message has been received. More... | |
bool | isGPS_signalAcquired () |
Returns true if the last message from the GPS indicates that the signal from sats has been acquired. More... | |
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::TSensorClassId * | GetRuntimeClass () 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 §ion) |
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 |
Set-up and configuration | |
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 | setParser (PARSERS parser) |
Select the parser for incomming data, among the options enumerated in CGPSInterface. More... | |
PARSERS | getParser () const |
void | bindStream (mrpt::utils::CStream *external_stream, mrpt::synch::CCriticalSection *csOptionalExternalStream=NULL) |
This enforces the use of a given user stream, instead of trying to open the serial port set in this class parameters. More... | |
bool | useExternCOM () const |
bool | useExternalStream () const |
void | setSetupCommandsDelay (const double delay_secs) |
double | getSetupCommandsDelay () const |
void | setSetupCommands (const std::vector< std::string > &cmds) |
const std::vector< std::string > & | getSetupCommands () const |
void | setShutdownCommands (const std::vector< std::string > &cmds) |
const std::vector< std::string > & | getShutdownCommands () const |
void | enableSetupCommandsAppendCRLF (const bool enable) |
bool | isEnabledSetupCommandsAppendCRLF () const |
void | enableAppendMsgTypeToSensorLabel (bool enable) |
bool | sendCustomCommand (const void *data, const size_t datalen) |
Send a custom data block to the GNSS device right now. More... | |
Parser implementations: each method must try to parse the first bytes in the | |
incoming buffer, and return false if the available data does not match the expected format, so we must skip 1 byte and try again. | |
bool | implement_parser_NMEA (size_t &out_minimum_rx_buf_to_decide) |
bool | implement_parser_NOVATEL_OEM6 (size_t &out_minimum_rx_buf_to_decide) |
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 CGenericSensor * | createSensor (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... | |
bool | OnConnectionShutdown () |
Like OnConnectionEstablished() for sending optional shutdown commands. More... | |
bool | legacy_topcon_setup_commands () |
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... | |
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 | |
mrpt::utils::CStream * | m_data_stream |
Typically a CSerialPort created by this class, but may be set externally. More... | |
mrpt::synch::CCriticalSection * | m_data_stream_cs |
bool | m_data_stream_is_external |
poses::CPose3D | 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 | parseBuffer () |
Process data in "m_buffer" to extract GPS messages, and remove them from the buffer. More... | |
void | flushParsedMessagesNow () |
Queue out now the messages in m_just_parsed_messages, leaving it empty. More... | |
Private Attributes | |
mrpt::utils::circular_buffer< uint8_t > | m_rx_buffer |
Auxiliary buffer for readings. More... | |
PARSERS | m_parser |
std::string | m_raw_dump_file_prefix |
std::string | m_COMname |
int | m_COMbauds |
bool | m_sensorLabelAppendMsgType |
bool | m_GPS_comsWork |
mrpt::system::TTimeStamp | m_last_timestamp |
mrpt::utils::CFileOutputStream | m_raw_output_file |
double | m_custom_cmds_delay |
bool | m_custom_cmds_append_CRLF |
std::vector< std::string > | m_setup_cmds |
std::vector< std::string > | m_shutdown_cmds |
mrpt::obs::CObservationGPS | m_just_parsed_messages |
A private copy of the last received gps datum. More... | |
std::string | m_last_GGA |
Used in getLastGGA() More... | |
synch::CCriticalSection | m_csObjList |
The critical section for m_objList. More... | |
TListObservations | m_objList |
The queue of objects to be returned by getObservations. More... | |
Static Private Attributes | |
static std::map< std::string, const TSensorClassId * > | m_knownClasses |
Used in registerClass. More... | |
Legacy support for TopCon RTK configuration | |
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_topcon_useAIMMode |
Use this mode for receive RTK corrections from a external source through the primary port. More... | |
bool | m_topcon_AIMConfigured |
Indicates if the AIM has been properly set up. More... | |
double | m_topcon_data_period |
The period in seconds which the data should be provided by the GPS. More... | |
void | JAVAD_sendMessage (const char *str, bool waitForAnswer=true) |
Private auxiliary method. Raises exception on error. More... | |
typedef bool(CGPSInterface::* mrpt::hwdrivers::CGPSInterface::ptr_parser_t) (size_t &out_minimum_rx_buf_to_decide) |
Definition at line 184 of file CGPSInterface.h.
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inherited |
Definition at line 68 of file CGenericSensor.h.
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inherited |
Definition at line 69 of file CGenericSensor.h.
Read about parser selection in the documentation for CGPSInterface.
Enumerator | |
---|---|
NONE | |
AUTO | |
NMEA | |
NOVATEL_OEM6 |
Definition at line 116 of file CGPSInterface.h.
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inherited |
The current state of the sensor.
Enumerator | |
---|---|
ssInitializing | |
ssWorking | |
ssError |
Definition at line 74 of file CGenericSensor.h.
mrpt::hwdrivers::CGPSInterface::CGPSInterface | ( | ) |
Default ctor.
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virtual |
Dtor.
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inlineprotectedinherited |
Like appendObservations() but for just one observation.
Definition at line 146 of file CGenericSensor.h.
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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:
If several observations are passed at once in the vector, they'll be considered as a block regarding the grabbing decimation factor.
void mrpt::hwdrivers::CGPSInterface::bindStream | ( | mrpt::utils::CStream * | external_stream, |
mrpt::synch::CCriticalSection * | csOptionalExternalStream = NULL |
||
) |
This enforces the use of a given user stream, instead of trying to open the serial port set in this class parameters.
[in] | csExternalStream | If not NULL, read/write operations to the stream will be guarded by this critical section. The stream object is not deleted. It is the user responsibility to keep that object allocated during the entire life of this object. |
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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:
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inlinestaticinherited |
Just like createSensor, but returning a smart pointer to the newly created sensor object.
Definition at line 179 of file CGenericSensor.h.
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virtual |
This method will be invoked at a minimum rate of "process_rate" (Hz)
This | method must throw an exception with a descriptive message if some critical error is found. |
Implements mrpt::hwdrivers::CGenericSensor.
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inline |
Definition at line 164 of file CGPSInterface.h.
void mrpt::hwdrivers::CGPSInterface::enableSetupCommandsAppendCRLF | ( | const bool | enable | ) |
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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.
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private |
Queue out now the messages in m_just_parsed_messages, leaving it empty.
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inlineinherited |
Definition at line 233 of file CGenericSensor.h.
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.
[in] | reset | If set to true, will empty the GGA cache so next calls will return an empty string if no new frame is received. |
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inherited |
Returns a list of enqueued objects, emptying it (thread-safe).
The objects must be freed by the invoker.
PARSERS mrpt::hwdrivers::CGPSInterface::getParser | ( | ) | const |
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inlineinherited |
Definition at line 84 of file CGenericSensor.h.
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pure virtualinherited |
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inlineinherited |
Definition at line 86 of file CGenericSensor.h.
std::string mrpt::hwdrivers::CGPSInterface::getSerialPortName | ( | ) | const |
Get the serial port to use (COM1, ttyUSB0, etc).
const std::vector< std::string > & mrpt::hwdrivers::CGPSInterface::getSetupCommands | ( | ) | const |
double mrpt::hwdrivers::CGPSInterface::getSetupCommandsDelay | ( | ) | const |
const std::vector< std::string > & mrpt::hwdrivers::CGPSInterface::getShutdownCommands | ( | ) | const |
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inlineinherited |
The current state of the sensor
Definition at line 82 of file CGenericSensor.h.
bool mrpt::hwdrivers::CGPSInterface::implement_parser_NMEA | ( | size_t & | out_minimum_rx_buf_to_decide | ) |
bool mrpt::hwdrivers::CGPSInterface::implement_parser_NOVATEL_OEM6 | ( | size_t & | out_minimum_rx_buf_to_decide | ) |
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inlinevirtualinherited |
This method can or cannot be implemented in the derived class, depending on the need for it.
This | method must throw an exception with a descriptive message if some critical error is found. |
Reimplemented in mrpt::hwdrivers::CActivMediaRobotBase, mrpt::hwdrivers::CBoardDLMS, mrpt::hwdrivers::CBoardENoses, mrpt::hwdrivers::CCameraSensor, mrpt::hwdrivers::CCANBusReader, mrpt::hwdrivers::CGPS_NTRIP, mrpt::hwdrivers::CGyroKVHDSP3000, mrpt::hwdrivers::CHokuyoURG, mrpt::hwdrivers::CIbeoLuxETH, mrpt::hwdrivers::CImpinjRFID, mrpt::hwdrivers::CIMUIntersense, mrpt::hwdrivers::CIMUXSens, mrpt::hwdrivers::CIMUXSens_MT4, mrpt::hwdrivers::CKinect, mrpt::hwdrivers::CLMS100Eth, mrpt::hwdrivers::CNationalInstrumentsDAQ, mrpt::hwdrivers::CNTRIPEmitter, mrpt::hwdrivers::COpenNI2_RGBD360, mrpt::hwdrivers::COpenNI2Sensor, mrpt::hwdrivers::CPhidgetInterfaceKitProximitySensors, mrpt::hwdrivers::CPtuHokuyo, mrpt::hwdrivers::CRoboPeakLidar, mrpt::hwdrivers::CSickLaserSerial, mrpt::hwdrivers::CSkeletonTracker, mrpt::hwdrivers::CSwissRanger3DCamera, and mrpt::hwdrivers::CVelodyneScanner.
Definition at line 200 of file CGenericSensor.h.
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inline |
Definition at line 171 of file CGPSInterface.h.
bool mrpt::hwdrivers::CGPSInterface::isEnabledSetupCommandsAppendCRLF | ( | ) | const |
bool mrpt::hwdrivers::CGPSInterface::isGPS_connected | ( | ) |
Returns true if communications work, i.e. if some message has been received.
bool mrpt::hwdrivers::CGPSInterface::isGPS_signalAcquired | ( | ) |
Returns true if the last message from the GPS indicates that the signal from sats has been acquired.
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inlineinherited |
Definition at line 93 of file CGenericSensor.h.
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private |
Private auxiliary method. Raises exception on error.
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protected |
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inherited |
Loads the generic settings common to any sensor (See CGenericSensor), then call to "loadConfig_sensorSpecific".
This | method throws an exception with a descriptive message if some critical parameter is missing or has an invalid value. |
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protectedvirtual |
See the class documentation at the top for expected parameters.
Implements mrpt::hwdrivers::CGenericSensor.
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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.
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protected |
Like OnConnectionEstablished() for sending optional shutdown commands.
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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 those listed for the NMEA
parser in the documentation of CGPSInterface
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private |
Process data in "m_buffer" to extract GPS messages, and remove them from the buffer.
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staticinherited |
Sends a formated text to "debugOut" if not NULL, or to cout otherwise.
Referenced by mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute().
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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.
bool mrpt::hwdrivers::CGPSInterface::sendCustomCommand | ( | const void * | data, |
const size_t | datalen | ||
) |
Send a custom data block to the GNSS device right now.
Can be used to change its behavior online as needed.
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inlineinherited |
Set the extension ("jpg","gif","png",...) that determines the format of images saved externally The default is "jpg".
Definition at line 225 of file CGenericSensor.h.
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inlineinherited |
The quality of JPEG compression, when external images is enabled and the format is "jpg".
Definition at line 230 of file CGenericSensor.h.
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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 ">>"
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inlineprotected |
Only used when "m_JAVAD_rtk_src_port" is not empty: format of RTK corrections: "cmr", "rtcm", "rtcm3", etc.
Definition at line 220 of file CGPSInterface.h.
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inlineprotected |
Only used when "m_JAVAD_rtk_src_port" is not empty.
Definition at line 217 of file CGPSInterface.h.
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inlineprotected |
If not empty, will send a cmd "set,/par/pos/pd/port,...".
Example value: "/dev/ser/b"
Definition at line 214 of file CGPSInterface.h.
void mrpt::hwdrivers::CGPSInterface::setParser | ( | PARSERS | parser | ) |
Select the parser for incomming data, among the options enumerated in CGPSInterface.
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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.
std::exception | If the directory doesn't exists and cannot be created. |
Reimplemented in mrpt::hwdrivers::CCameraSensor, mrpt::hwdrivers::CKinect, mrpt::hwdrivers::COpenNI2_RGBD360, mrpt::hwdrivers::COpenNI2Sensor, and mrpt::hwdrivers::CSwissRanger3DCamera.
Definition at line 216 of file CGenericSensor.h.
References MRPT_UNUSED_PARAM.
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inlineinherited |
Definition at line 87 of file CGenericSensor.h.
void mrpt::hwdrivers::CGPSInterface::setSerialPortName | ( | const std::string & | COM_port | ) |
Set the serial port to use (COM1, ttyUSB0, etc).
void mrpt::hwdrivers::CGPSInterface::setSetupCommands | ( | const std::vector< std::string > & | cmds | ) |
void mrpt::hwdrivers::CGPSInterface::setSetupCommandsDelay | ( | const double | delay_secs | ) |
void mrpt::hwdrivers::CGPSInterface::setShutdownCommands | ( | const std::vector< std::string > & | cmds | ) |
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private |
Returns true if the COM port is already open, or try to open it in other case.
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protected |
Unset Advanced Input Mode for the primary port and use it only as a command port.
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inline |
Definition at line 150 of file CGPSInterface.h.
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inline |
Definition at line 149 of file CGPSInterface.h.
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private |
Definition at line 235 of file CGPSInterface.h.
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private |
Definition at line 234 of file CGPSInterface.h.
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privateinherited |
The critical section for m_objList.
Definition at line 104 of file CGenericSensor.h.
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private |
Definition at line 241 of file CGPSInterface.h.
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private |
Definition at line 240 of file CGPSInterface.h.
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protected |
Definition at line 206 of file CGPSInterface.h.
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protected |
Typically a CSerialPort created by this class, but may be set externally.
Definition at line 201 of file CGPSInterface.h.
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protected |
Definition at line 202 of file CGPSInterface.h.
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protected |
Definition at line 203 of file CGPSInterface.h.
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protectedinherited |
The extension ("jpg","gif","png",...) that determines the format of images saved externally.
Definition at line 130 of file CGenericSensor.h.
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protectedinherited |
For JPEG images, the quality (default=95%).
Definition at line 131 of file CGenericSensor.h.
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private |
Definition at line 237 of file CGPSInterface.h.
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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.
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protectedinherited |
Used when "m_grab_decimation" is enabled.
Definition at line 122 of file CGenericSensor.h.
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private |
Only used when "m_JAVAD_rtk_src_port" is not empty: format of RTK corrections: "cmr", "rtcm", "rtcm3", etc.
Definition at line 249 of file CGPSInterface.h.
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private |
Only used when "m_JAVAD_rtk_src_port" is not empty.
Definition at line 248 of file CGPSInterface.h.
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private |
If not empty, will send a cmd "set,/par/pos/pd/port,...". Example value: "/dev/ser/b".
Definition at line 247 of file CGPSInterface.h.
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private |
A private copy of the last received gps datum.
Definition at line 264 of file CGPSInterface.h.
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staticprivateinherited |
Used in registerClass.
Definition at line 108 of file CGenericSensor.h.
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private |
Used in getLastGGA()
Definition at line 265 of file CGPSInterface.h.
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private |
Definition at line 238 of file CGPSInterface.h.
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protectedinherited |
See CGenericSensor.
Definition at line 116 of file CGenericSensor.h.
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privateinherited |
The queue of objects to be returned by getObservations.
Definition at line 105 of file CGenericSensor.h.
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private |
Definition at line 232 of file CGPSInterface.h.
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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.
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protectedinherited |
See CGenericSensor.
Definition at line 115 of file CGenericSensor.h.
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private |
Definition at line 233 of file CGPSInterface.h.
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private |
Definition at line 239 of file CGPSInterface.h.
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private |
Auxiliary buffer for readings.
Definition at line 231 of file CGPSInterface.h.
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protectedinherited |
See CGenericSensor.
Definition at line 118 of file CGenericSensor.h.
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private |
Definition at line 236 of file CGPSInterface.h.
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protected |
Definition at line 205 of file CGPSInterface.h.
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private |
Definition at line 242 of file CGPSInterface.h.
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private |
Definition at line 243 of file CGPSInterface.h.
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protectedinherited |
Definition at line 124 of file CGenericSensor.h.
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private |
Indicates if the AIM has been properly set up.
Definition at line 252 of file CGPSInterface.h.
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private |
The period in seconds which the data should be provided by the GPS.
Definition at line 253 of file CGPSInterface.h.
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private |
Use this mode for receive RTK corrections from a external source through the primary port.
Definition at line 251 of file CGPSInterface.h.
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protectedinherited |
Definition at line 125 of file CGenericSensor.h.
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