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<div class="headertitle"><div class="title">rtabmap::GPS Class Reference</div></div>
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<p>WGS84 <a class="el" href="classrtabmap_1_1GPS.html" title="WGS84 GPS fix attached to a sensor sample or graph node.">GPS</a> fix attached to a sensor sample or graph node.
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<a href="classrtabmap_1_1GPS.html#details">More...</a></p>
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<p><code>#include <<a class="el" href="GPS_8h_source.html">GPS.h</a>></code></p>
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<table class="memberdecls">
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
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Public Member Functions</h2></td></tr>
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<tr class="memitem:a4ea914df744ae5a9ff60eff6bb2c734d" id="r_a4ea914df744ae5a9ff60eff6bb2c734d"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1GPS.html#a4ea914df744ae5a9ff60eff6bb2c734d">GPS</a> ()</td></tr>
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<tr class="memdesc:a4ea914df744ae5a9ff60eff6bb2c734d"><td class="mdescLeft"> </td><td class="mdescRight">Default-constructs a fix at the origin with zero stamp and error. <br /></td></tr>
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<tr class="separator:a4ea914df744ae5a9ff60eff6bb2c734d"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a488bb172e3b8836387e0994a31e709ef" id="r_a488bb172e3b8836387e0994a31e709ef"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1GPS.html#a488bb172e3b8836387e0994a31e709ef">GPS</a> (const double &<a class="el" href="classrtabmap_1_1GPS.html#a8620d60c593c641eb3be44ae41bec799">stamp</a>, const double &<a class="el" href="classrtabmap_1_1GPS.html#ac848af004f6581d42d55568d72332793">longitude</a>, const double &<a class="el" href="classrtabmap_1_1GPS.html#a9b20f8a5bf2cba909b53ecd83d2b4c08">latitude</a>, const double &<a class="el" href="classrtabmap_1_1GPS.html#a50ae4bb38ab5dc1fef49ff367b602adc">altitude</a>, const double &<a class="el" href="classrtabmap_1_1GPS.html#acf16049cca9dfc2fdb46705818f3bb34">error</a>, const double &<a class="el" href="classrtabmap_1_1GPS.html#a9285c1d2e97f83dc0b8df3666b912169">bearing</a>)</td></tr>
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<tr class="memdesc:a488bb172e3b8836387e0994a31e709ef"><td class="mdescLeft"> </td><td class="mdescRight">Constructs a <a class="el" href="classrtabmap_1_1GPS.html" title="WGS84 GPS fix attached to a sensor sample or graph node.">GPS</a> fix. <br /></td></tr>
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<tr class="memitem:a8620d60c593c641eb3be44ae41bec799" id="r_a8620d60c593c641eb3be44ae41bec799"><td class="memItemLeft" align="right" valign="top">const double & </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1GPS.html#a8620d60c593c641eb3be44ae41bec799">stamp</a> () const</td></tr>
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<tr class="memitem:ac848af004f6581d42d55568d72332793" id="r_ac848af004f6581d42d55568d72332793"><td class="memItemLeft" align="right" valign="top">const double & </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1GPS.html#ac848af004f6581d42d55568d72332793">longitude</a> () const</td></tr>
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<tr class="memitem:a9b20f8a5bf2cba909b53ecd83d2b4c08" id="r_a9b20f8a5bf2cba909b53ecd83d2b4c08"><td class="memItemLeft" align="right" valign="top">const double & </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1GPS.html#a9b20f8a5bf2cba909b53ecd83d2b4c08">latitude</a> () const</td></tr>
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<tr class="memitem:a50ae4bb38ab5dc1fef49ff367b602adc" id="r_a50ae4bb38ab5dc1fef49ff367b602adc"><td class="memItemLeft" align="right" valign="top">const double & </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1GPS.html#a50ae4bb38ab5dc1fef49ff367b602adc">altitude</a> () const</td></tr>
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<tr class="memitem:acf16049cca9dfc2fdb46705818f3bb34" id="r_acf16049cca9dfc2fdb46705818f3bb34"><td class="memItemLeft" align="right" valign="top">const double & </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1GPS.html#acf16049cca9dfc2fdb46705818f3bb34">error</a> () const</td></tr>
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<tr class="memitem:a9285c1d2e97f83dc0b8df3666b912169" id="r_a9285c1d2e97f83dc0b8df3666b912169"><td class="memItemLeft" align="right" valign="top">const double & </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1GPS.html#a9285c1d2e97f83dc0b8df3666b912169">bearing</a> () const</td></tr>
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<tr class="memitem:a2eeb2607721870789914f12688cbc375" id="r_a2eeb2607721870789914f12688cbc375"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classrtabmap_1_1GeodeticCoords.html">GeodeticCoords</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1GPS.html#a2eeb2607721870789914f12688cbc375">toGeodeticCoords</a> () const</td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
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<div class="textblock"><p>WGS84 <a class="el" href="classrtabmap_1_1GPS.html" title="WGS84 GPS fix attached to a sensor sample or graph node.">GPS</a> fix attached to a sensor sample or graph node. </p>
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<p>Stores a timestamped geographic position with horizontal accuracy and bearing. Values are persisted in the database as six doubles in the order <code>stamp</code>, <code>longitude</code>, <code>latitude</code>, <code>altitude</code>, <code>error</code>, <code>bearing</code>.</p>
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<dl class="section see"><dt>See also</dt><dd><a class="el" href="classrtabmap_1_1SensorData.html#a176b8160afc549fc6eaa2d0567c12957" title="Returns GPS data.">SensorData::gps()</a> </dd>
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<dd>
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<a class="el" href="classrtabmap_1_1GeodeticCoords.html" title="WGS84 geodetic latitude, longitude and altitude with coordinate conversions.">GeodeticCoords</a> </dd></dl>
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<p class="definition">Definition at line <a class="el" href="GPS_8h_source.html#l00046">46</a> of file <a class="el" href="GPS_8h_source.html">GPS.h</a>.</p>
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</div><h2 class="groupheader">Constructor & Destructor Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#a4ea914df744ae5a9ff60eff6bb2c734d">◆ </a></span>GPS() <span class="overload">[1/2]</span></h2>
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<td>(</td>
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<p>Default-constructs a fix at the origin with zero stamp and error. </p>
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<p class="definition">Definition at line <a class="el" href="GPS_8h_source.html#l00050">50</a> of file <a class="el" href="GPS_8h_source.html">GPS.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a488bb172e3b8836387e0994a31e709ef">◆ </a></span>GPS() <span class="overload">[2/2]</span></h2>
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<td>(</td>
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<td class="paramtype">const double & </td>
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<td class="paramname"><em>stamp</em>, </td>
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<td class="paramtype">const double & </td>
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<td class="paramname"><em>longitude</em>, </td>
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<td class="paramtype">const double & </td>
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<td class="paramtype">const double & </td>
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<p>Constructs a <a class="el" href="classrtabmap_1_1GPS.html" title="WGS84 GPS fix attached to a sensor sample or graph node.">GPS</a> fix. </p>
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<dl class="params"><dt>Parameters</dt><dd>
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<table class="params">
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<tr><td class="paramname">stamp</td><td>Timestamp in seconds. </td></tr>
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<tr><td class="paramname">longitude</td><td>Longitude in decimal degrees (DD, east positive). </td></tr>
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<tr><td class="paramname">latitude</td><td>Latitude in decimal degrees (DD, north positive). </td></tr>
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<tr><td class="paramname">altitude</td><td>Altitude in meters above the WGS84 ellipsoid. </td></tr>
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<tr><td class="paramname">error</td><td>Horizontal position error radius in meters. </td></tr>
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<tr><td class="paramname">bearing</td><td>Heading in degrees, 0 = north, increasing clockwise. </td></tr>
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<p class="definition">Definition at line <a class="el" href="GPS_8h_source.html#l00067">67</a> of file <a class="el" href="GPS_8h_source.html">GPS.h</a>.</p>
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<h2 class="groupheader">Member Function Documentation</h2>
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<a id="a8620d60c593c641eb3be44ae41bec799" name="a8620d60c593c641eb3be44ae41bec799"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a8620d60c593c641eb3be44ae41bec799">◆ </a></span>stamp()</h2>
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<td class="memname">const double & rtabmap::GPS::stamp </td>
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<dl class="section return"><dt>Returns</dt><dd>Timestamp in seconds. </dd></dl>
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<p class="definition">Definition at line <a class="el" href="GPS_8h_source.html#l00081">81</a> of file <a class="el" href="GPS_8h_source.html">GPS.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#ac848af004f6581d42d55568d72332793">◆ </a></span>longitude()</h2>
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<dl class="section return"><dt>Returns</dt><dd>Longitude in decimal degrees (DD). </dd></dl>
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<p class="definition">Definition at line <a class="el" href="GPS_8h_source.html#l00083">83</a> of file <a class="el" href="GPS_8h_source.html">GPS.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a9b20f8a5bf2cba909b53ecd83d2b4c08">◆ </a></span>latitude()</h2>
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<td class="memname">const double & rtabmap::GPS::latitude </td>
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<dl class="section return"><dt>Returns</dt><dd>Latitude in decimal degrees (DD). </dd></dl>
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<p class="definition">Definition at line <a class="el" href="GPS_8h_source.html#l00085">85</a> of file <a class="el" href="GPS_8h_source.html">GPS.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a50ae4bb38ab5dc1fef49ff367b602adc">◆ </a></span>altitude()</h2>
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<dl class="section return"><dt>Returns</dt><dd>Altitude in meters. </dd></dl>
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<p class="definition">Definition at line <a class="el" href="GPS_8h_source.html#l00087">87</a> of file <a class="el" href="GPS_8h_source.html">GPS.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#acf16049cca9dfc2fdb46705818f3bb34">◆ </a></span>error()</h2>
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<dl class="section return"><dt>Returns</dt><dd>Horizontal position error in meters. </dd></dl>
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<p class="definition">Definition at line <a class="el" href="GPS_8h_source.html#l00089">89</a> of file <a class="el" href="GPS_8h_source.html">GPS.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a9285c1d2e97f83dc0b8df3666b912169">◆ </a></span>bearing()</h2>
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<dl class="section return"><dt>Returns</dt><dd>Bearing in degrees (north = 0, clockwise). </dd></dl>
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<p class="definition">Definition at line <a class="el" href="GPS_8h_source.html#l00091">91</a> of file <a class="el" href="GPS_8h_source.html">GPS.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a2eeb2607721870789914f12688cbc375">◆ </a></span>toGeodeticCoords()</h2>
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<td class="memname"><a class="el" href="classrtabmap_1_1GeodeticCoords.html">GeodeticCoords</a> rtabmap::GPS::toGeodeticCoords </td>
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<dl class="section return"><dt>Returns</dt><dd><a class="el" href="classrtabmap_1_1GeodeticCoords.html">GeodeticCoords</a> built from <a class="el" href="classrtabmap_1_1GPS.html#a9b20f8a5bf2cba909b53ecd83d2b4c08">latitude()</a>, <a class="el" href="classrtabmap_1_1GPS.html#ac848af004f6581d42d55568d72332793">longitude()</a> and <a class="el" href="classrtabmap_1_1GPS.html#a50ae4bb38ab5dc1fef49ff367b602adc">altitude()</a>. </dd></dl>
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<p class="definition">Definition at line <a class="el" href="GPS_8h_source.html#l00096">96</a> of file <a class="el" href="GPS_8h_source.html">GPS.h</a>.</p>
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<hr/>The documentation for this class was generated from the following file:<ul>
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<li>corelib/include/rtabmap/core/<a class="el" href="GPS_8h_source.html">GPS.h</a></li>
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