Changeset 51 in flair-src for trunk/lib/FlairSensorActuator/src/NmeaGps.h
- Timestamp:
- 07/26/16 17:32:57 (8 years ago)
- File:
-
- 1 moved
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trunk/lib/FlairSensorActuator/src/NmeaGps.h
r42 r51 4 4 // %flair:license} 5 5 /*! 6 * \file Gps.h7 * \brief Base class for GPS 6 * \file NmeaGps.h 7 * \brief Base class for GPS using NMEA sentances 8 8 * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253 9 9 * \date 2013/08/23 … … 11 11 */ 12 12 13 #ifndef GPS_H14 #define GPS_H13 #ifndef NMEAGPS_H 14 #define NMEAGPS_H 15 15 16 16 #include <IODevice.h> … … 18 18 19 19 namespace 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 } 35 35 } 36 36 37 37 namespace flair { 38 38 namespace sensor { 39 /*! \class Gps 39 40 /*! \class NmeaGps 40 41 * 41 * \brief Base class for GPS 42 * \brief Base class for GPS using NMEA sentances 42 43 */ 43 class Gps : public core::IODevice {44 class NmeaGps : public core::IODevice { 44 45 public: 45 /*!46 \enum FixQuality_t47 \brief Fix qualty indicators48 */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 61 46 /*! 62 47 \enum NMEAFlags_t … … 72 57 * \brief Constructor 73 58 * 74 * Construct a Gps.59 * Construct a NmeaGps. 75 60 * 76 61 * \param parent parent … … 78 63 * \param NMEAFlags NMEA sentances to enable 79 64 */ 80 Gps(const core::FrameworkManager *parent, std::string name,65 NmeaGps(const core::FrameworkManager *parent, std::string name, 81 66 NMEAFlags_t NMEAFlags); 82 67 … … 85 70 * 86 71 */ 87 ~Gps(); 72 ~NmeaGps(); 73 74 /*! 75 * \brief Get GPS datas 76 * 77 * \return GpsData 78 */ 79 const core::GpsData *GetDatas(void) const; 88 80 89 81 /*! … … 148 140 */ 149 141 gui::Tab *GetPlotTab(void) const; 150 151 /*!152 * \brief Number of used satellites153 *154 * \return number of used satellites155 */156 uint16_t NbSat(void) const;157 158 /*!159 * \brief Fix Quality160 *161 * \return fix quality162 */163 FixQuality_t FixQuality(void) const;164 142 165 143 /*! … … 178 156 * \param point to store position 179 157 */ 180 void GetE NUPosition(core::Vector3D *point);158 void GetEnu(core::Vector3D *point); 181 159 182 160 protected: … … 197 175 protected: 198 176 core::GeoCoordinate *position; 177 178 /*! 179 * \brief Get GPS datas 180 * 181 * \param gpsData GPS datas 182 */ 183 void GetDatas(core::GpsData **gpsData) const; 199 184 200 185 private: … … 219 204 gui::Map *map; 220 205 gui::Label *nb_sat_label, *fix_label; 221 uint16_t nb_sat;222 FixQuality_t fix;223 206 bool take_ref; 224 207 nmeaINFO info; … … 227 210 nmeaPOS pos; 228 211 double lat_ref, long_ref, alt_ref; 229 230 // matrix 231 core::cvmatrix *output; 212 core::GpsData* gpsData; 232 213 }; 233 214 } // end namespace sensor 234 215 } // end namespace framewor 235 #endif // GPS_H216 #endif // NMEAGPS_H
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