Changeset 51 in flair-src for trunk/lib/FlairSensorActuator/src/NmeaGps.h


Ignore:
Timestamp:
Jul 26, 2016, 5:32:57 PM (5 years ago)
Author:
Sanahuja Guillaume
Message:

gps

File:
1 moved

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  • trunk/lib/FlairSensorActuator/src/NmeaGps.h

    r42 r51  
    44// %flair:license}
    55/*!
    6  * \file Gps.h
    7  * \brief Base class for GPS
     6 * \file NmeaGps.h
     7 * \brief Base class for GPS using NMEA sentances
    88 * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
    99 * \date 2013/08/23
     
    1111 */
    1212
    13 #ifndef GPS_H
    14 #define GPS_H
     13#ifndef NMEAGPS_H
     14#define NMEAGPS_H
    1515
    1616#include <IODevice.h>
     
    1818
    1919namespace flair {
    20 namespace core {
    21 class cvmatrix;
    22 class FrameworkManager;
    23 class GeoCoordinate;
    24 class Vector3D;
    25 }
    26 namespace gui {
    27 class Layout;
    28 class DataPlot1D;
    29 class Tab;
    30 class TabWidget;
    31 class PushButton;
    32 class Map;
    33 class Label;
    34 }
     20  namespace core {
     21    class FrameworkManager;
     22    class GeoCoordinate;
     23    class Vector3D;
     24    class GpsData;
     25  }
     26  namespace gui {
     27    class Layout;
     28    class DataPlot1D;
     29    class Tab;
     30    class TabWidget;
     31    class PushButton;
     32    class Map;
     33    class Label;
     34  }
    3535}
    3636
    3737namespace flair {
    3838namespace sensor {
    39 /*! \class Gps
     39
     40/*! \class NmeaGps
    4041*
    41 * \brief Base class for GPS
     42* \brief Base class for GPS using NMEA sentances
    4243*/
    43 class Gps : public core::IODevice {
     44class NmeaGps : public core::IODevice {
    4445public:
    45   /*!
    46   \enum FixQuality_t
    47   \brief Fix qualty indicators
    48   */
    49   enum class FixQuality_t {
    50     Invalid = 0,    /*!< invalid */
    51     Gps = 1,        /*!< Gps */
    52     DGps = 2,       /*!< Differential Gps */
    53     Pps = 3,        /*!< Pps */
    54     Rtk = 4,        /*!< RTK */
    55     RtkFloat = 5,   /*!< RTK float */
    56     Estimated = 6,  /*!< Estimated */
    57     Manual = 7,     /*!< Manual */
    58     Simulation = 8, /*!< Simulation */
    59   };
    60 
    6146  /*!
    6247  \enum NMEAFlags_t
     
    7257  * \brief Constructor
    7358  *
    74   * Construct a Gps.
     59  * Construct a NmeaGps.
    7560  *
    7661  * \param parent parent
     
    7863  * \param NMEAFlags NMEA sentances to enable
    7964  */
    80   Gps(const core::FrameworkManager *parent, std::string name,
     65  NmeaGps(const core::FrameworkManager *parent, std::string name,
    8166      NMEAFlags_t NMEAFlags);
    8267
     
    8570  *
    8671  */
    87   ~Gps();
     72  ~NmeaGps();
     73
     74  /*!
     75  * \brief Get GPS datas
     76  *
     77  * \return GpsData
     78  */
     79  const core::GpsData *GetDatas(void) const;
    8880
    8981  /*!
     
    148140  */
    149141  gui::Tab *GetPlotTab(void) const;
    150 
    151   /*!
    152   * \brief Number of used satellites
    153   *
    154   * \return number of used satellites
    155   */
    156   uint16_t NbSat(void) const;
    157 
    158   /*!
    159   * \brief Fix Quality
    160   *
    161   * \return fix quality
    162   */
    163   FixQuality_t FixQuality(void) const;
    164142
    165143  /*!
     
    178156  * \param point to store position
    179157  */
    180   void GetENUPosition(core::Vector3D *point);
     158  void GetEnu(core::Vector3D *point);
    181159
    182160protected:
     
    197175protected:
    198176  core::GeoCoordinate *position;
     177
     178  /*!
     179  * \brief Get GPS datas
     180  *
     181  * \param gpsData GPS datas
     182  */
     183  void GetDatas(core::GpsData **gpsData) const;
    199184
    200185private:
     
    219204  gui::Map *map;
    220205  gui::Label *nb_sat_label, *fix_label;
    221   uint16_t nb_sat;
    222   FixQuality_t fix;
    223206  bool take_ref;
    224207  nmeaINFO info;
     
    227210  nmeaPOS pos;
    228211  double lat_ref, long_ref, alt_ref;
    229 
    230   // matrix
    231   core::cvmatrix *output;
     212  core::GpsData* gpsData;
    232213};
    233214} // end namespace sensor
    234215} // end namespace framewor
    235 #endif // GPS_H
     216#endif // NMEAGPS_H
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