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mrpt::obs::gnss::Message_TOPCON_PZS Struct Reference

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:
Inheritance graph

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>();.
 
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.
 
void writeToStream (mrpt::utils::CStream &out) const
 Save to binary stream. Launches an exception upon error.
 
void readFromStream (mrpt::utils::CStream &in)
 Load from binary stream into this existing object. Launches an exception upon error.
 
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)
 
virtual bool getAllFieldDescriptions (std::ostream &o) const
 Dumps a header for getAllFieldValues()
 
virtual bool getAllFieldValues (std::ostream &o) const
 Dumps a line with the sequence of all field values (without a line feed at the end).
 
const std::string & getMessageTypeAsString () const
 Returns "NMEA_GGA", etc.
 

Static Public Member Functions

static gnss_messagereadAndBuildFromStream (mrpt::utils::CStream &in)
 Load from binary stream and creates object detecting its type (class factory). Launches an exception upon error.
 
static gnss_messageFactory (const gnss_message_type_t msg_id)
 Creates message.
 
static bool FactoryKnowsMsgType (const gnss_message_type_t msg_id)
 Returns true if Factory() has a registered constructor for this msg type.
 

Public Attributes

double latitude_degrees
 The measured latitude, in degrees (North:+ , South:-)
 
double longitude_degrees
 The measured longitude, in degrees (East:+ , West:-)
 
double height_meters
 ellipsoidal height from N-beam [m] perhaps weighted with regular gps
 
double RTK_height_meters
 ellipsoidal height [m] without N-beam correction
 
float PSigma
 position SEP [m]
 
double angle_transmitter
 Vertical angle of N-beam.
 
uint8_t nId
 ID of the transmitter [1-4], 0 if none.
 
uint8_t Fix
 1: GPS, 2: mmGPS
 
uint8_t TXBattery
 battery level on transmitter
 
uint8_t RXBattery
 battery level on receiver
 
uint8_t error
 
bool hasCartesianPosVel
 system error indicator
 
double cartesian_x
 
double cartesian_y
 
double cartesian_z
 Only if hasCartesianPosVel is true.
 
double cartesian_vx
 
double cartesian_vy
 
double cartesian_vz
 Only if hasCartesianPosVel is true.
 
bool hasPosCov
 
mrpt::math::CMatrixFloat44 pos_covariance
 Only if hasPosCov is true.
 
bool hasVelCov
 
mrpt::math::CMatrixFloat44 vel_covariance
 Only if hasPosCov is true.
 
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.
 
gnss_message_type_t message_type
 Type of GNSS message.
 

Static Public Attributes

static const gnss_message_type_t msg_type = TOPCON_PZS
 Static msg type (member expected by templates)
 

Protected Member Functions

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

Constructor & Destructor Documentation

◆ Message_TOPCON_PZS()

mrpt::obs::gnss::Message_TOPCON_PZS::Message_TOPCON_PZS ( )

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 mrpt::obs::gnss::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.

◆ Factory()

static gnss_message * mrpt::obs::gnss::gnss_message::Factory ( const gnss_message_type_t  msg_id)
staticinherited

Creates message.

Returns
NULL on unknown msg type

◆ FactoryKnowsMsgType()

static bool mrpt::obs::gnss::gnss_message::FactoryKnowsMsgType ( const gnss_message_type_t  msg_id)
staticinherited

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

◆ getAllFieldDescriptions()

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

◆ 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_GGA, mrpt::obs::gnss::Message_NMEA_GLL, mrpt::obs::gnss::Message_NMEA_RMC, mrpt::obs::gnss::Message_NMEA_VTG, and mrpt::obs::gnss::Message_NMEA_ZDA.

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 & mrpt::obs::gnss::gnss_message::getMessageTypeAsString ( ) const
inherited

Returns "NMEA_GGA", etc.

◆ internal_readFromStream()

void mrpt::obs::gnss::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.

◆ internal_writeToStream()

void mrpt::obs::gnss::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.

◆ 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()

static gnss_message * mrpt::obs::gnss::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.

◆ readFromStream()

void mrpt::obs::gnss::gnss_message::readFromStream ( mrpt::utils::CStream in)
inherited

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

◆ writeToStream()

void mrpt::obs::gnss::gnss_message::writeToStream ( mrpt::utils::CStream out) const
inherited

Save to binary stream. Launches an exception upon error.

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.

◆ cartesian_vx

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

Definition at line 37 of file gnss_messages_topcon.h.

◆ cartesian_vy

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

Definition at line 37 of file gnss_messages_topcon.h.

◆ 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.

◆ cartesian_x

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

Definition at line 36 of file gnss_messages_topcon.h.

◆ cartesian_y

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

Definition at line 36 of file gnss_messages_topcon.h.

◆ 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.

◆ error

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

Definition at line 33 of file gnss_messages_topcon.h.

◆ Fix

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

1: GPS, 2: mmGPS

Definition at line 30 of file gnss_messages_topcon.h.

◆ hasCartesianPosVel

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

system error indicator

Definition at line 35 of file gnss_messages_topcon.h.

◆ hasPosCov

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

Definition at line 39 of file gnss_messages_topcon.h.

◆ hasStats

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

Definition at line 45 of file gnss_messages_topcon.h.

◆ hasVelCov

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

Definition at line 42 of file gnss_messages_topcon.h.

◆ 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.

◆ 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.

◆ 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.

◆ 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.

◆ msg_type

const gnss_message_type_t mrpt::obs::gnss::Message_TOPCON_PZS::msg_type = TOPCON_PZS
static

Static msg type (member expected by templates)

Definition at line 21 of file gnss_messages_topcon.h.

◆ 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.

◆ 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.

◆ PSigma

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

position SEP [m]

Definition at line 27 of file gnss_messages_topcon.h.

◆ 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.

◆ RXBattery

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

battery level on receiver

Definition at line 32 of file gnss_messages_topcon.h.

◆ 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.

◆ 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.

◆ 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.

◆ TXBattery

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

battery level on transmitter

Definition at line 31 of file gnss_messages_topcon.h.

◆ 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.




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