hydrointerfaces::InsGps Class Reference
[InsGps]

Abstract class for a Ins/Gps system. More...

#include <insgps.h>

Inherited by insgpsfake::Driver, insgpsnovatelgbx::Driver, and insgpsnovatelspan::Driver.

List of all members.

Classes
class	Config
	general configuration of a Ins/Gps system; empty for now More...
class	GenericData
	Generic (base) type returned by a read. More...
class	GpsData
	Gps: global position, plus velocity. More...
class	ImuData
	Imu: strapdown inertial measurements. More...
class	InsData
	Ins: global position plus velocity orientation. More...
Public Types
enum	Datatype { Ins, Gps, Imu }
	possible types GenericData can contain More...
enum	StatusMessageType {   NoMsg, Initialising, Ok, Warning,   Fault }
	possible Status Messages GenericData can contain More...
Gps Status
split up into solution status, correction-method and -source, to break down the bazillion possibilities. This is not as granular as it could be but should cover the major cases.
enum	GpsSolutionStatus { NoFix, BadFix, TwoDFix, GoodFix }
	solution status More...
enum	GpsCorrectionMethod { NoDiff, CodeDiff, CarrierDiff }
	what type of corrections do we have More...
enum	GpsCorrectionSource { Local, Distant, Satellite }
	where do the corrections come from More...
Public Member Functions
virtual std::auto_ptr < GenericData >	read ()=0
	blocking read on the driver

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Detailed Description

Abstract class for a Ins/Gps system.

All drivers should implement this, making it simple to add support for different drivers

This guy is not guaranteed to be thread-safe!

Author:

Michael Moser

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Member Enumeration Documentation

enum hydrointerfaces::InsGps::Datatype

possible types GenericData can contain

Enumerator:

Ins	GenericData is really InsData.
Gps	GenericData is really GpsData.
Imu	GenericData is really ImuData.

enum hydrointerfaces::InsGps::GpsCorrectionMethod

what type of corrections do we have

Enumerator:

NoDiff	standalone GPS
CodeDiff	normal differential GPS; best case accuracy 1-2m; _not_ a filter
CarrierDiff	Carrier differential GPS; best case accuracy tens of cm; filtered: expect start and stop discontinuieties.

enum hydrointerfaces::InsGps::GpsCorrectionSource

where do the corrections come from

Enumerator:

Local	implies short baseline, high rate, reliable (i.e. your own basestation with direct radio link)
Distant	long (virtual) baseline, lower rate (i.e US-coastguard dgps)
Satellite	long (virtual) baseline, lower rate, point source (easily shaded) (e.g. WAAS/EGNOS, OmniStarXXX)

enum hydrointerfaces::InsGps::GpsSolutionStatus

solution status

Enumerator:

NoFix	no solution (no satellites, starting up, ...)
BadFix	the receiver has a solution, but it's likely to be invalid (singularity, non-conversion, ...)
TwoDFix	Calculated using some assumptions about Z-coordinate (sealevel, same as last, ...); probably not usable for control/mapping.
GoodFix	usable with the usual caveats about GPS (multipath, ionosphere/sunspots, phase of the moon ...)

enum hydrointerfaces::InsGps::StatusMessageType

possible Status Messages GenericData can contain

Enumerator:

NoMsg	Nothing new, no message.
Initialising	Not quite ready.
Ok	All good, but something to say.
Warning	Problem, likely to go away.
Fault	Problem, probably fatal.

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

• insgps.h