rtabmap::GPS Class Reference

WGS84 GPS fix attached to a sensor sample or graph node. More...

#include <GPS.h>

Public Member Functions
	GPS ()
	Default-constructs a fix at the origin with zero stamp and error.
	GPS (const double &stamp, const double &longitude, const double &latitude, const double &altitude, const double &error, const double &bearing)
	Constructs a GPS fix.
const double &	stamp () const
const double &	longitude () const
const double &	latitude () const
const double &	altitude () const
const double &	error () const
const double &	bearing () const
GeodeticCoords	toGeodeticCoords () const

Detailed Description

WGS84 GPS fix attached to a sensor sample or graph node.

Stores a timestamped geographic position with horizontal accuracy and bearing. Values are persisted in the database as six doubles in the order stamp, longitude, latitude, altitude, error, bearing.

See also

SensorData::gps()

GeodeticCoords

Definition at line 46 of file GPS.h.

Constructor & Destructor Documentation

GPS() [1/2]

rtabmap::GPS::GPS ( )

inline

Default-constructs a fix at the origin with zero stamp and error.

Definition at line 50 of file GPS.h.

GPS() [2/2]

rtabmap::GPS::GPS ( const double &  stamp, const double &  longitude, const double &  latitude, const double &  altitude, const double &  error, const double &  bearing  )

inline

Constructs a GPS fix.

Parameters

stamp	Timestamp in seconds.
longitude	Longitude in decimal degrees (DD, east positive).
latitude	Latitude in decimal degrees (DD, north positive).
altitude	Altitude in meters above the WGS84 ellipsoid.
error	Horizontal position error radius in meters.
bearing	Heading in degrees, 0 = north, increasing clockwise.

Definition at line 67 of file GPS.h.

Member Function Documentation

stamp()

const double & rtabmap::GPS::stamp ( ) const

inline

Returns

Timestamp in seconds.

Definition at line 81 of file GPS.h.

longitude()

const double & rtabmap::GPS::longitude ( ) const

inline

Returns

Longitude in decimal degrees (DD).

Definition at line 83 of file GPS.h.

latitude()

const double & rtabmap::GPS::latitude ( ) const

inline

Returns

Latitude in decimal degrees (DD).

Definition at line 85 of file GPS.h.

altitude()

const double & rtabmap::GPS::altitude ( ) const

inline

Returns

Altitude in meters.

Definition at line 87 of file GPS.h.

error()

const double & rtabmap::GPS::error ( ) const

inline

Returns

Horizontal position error in meters.

Definition at line 89 of file GPS.h.

bearing()

const double & rtabmap::GPS::bearing ( ) const

inline

Returns

Bearing in degrees (north = 0, clockwise).

Definition at line 91 of file GPS.h.

toGeodeticCoords()

GeodeticCoords rtabmap::GPS::toGeodeticCoords ( ) const

inline

Returns

GeodeticCoords built from latitude(), longitude() and altitude().

Definition at line 96 of file GPS.h.

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The documentation for this class was generated from the following file:

• corelib/include/rtabmap/core/GPS.h