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<a href="#pub-types">Public Types</a> &#124;
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<div class="headertitle"><div class="title">rtabmap::EnvSensor Class Reference</div></div>
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<p>Single environmental measurement (type, value, timestamp).
<a href="classrtabmap_1_1EnvSensor.html#details">More...</a></p>
<p><code>#include &lt;<a class="el" href="EnvSensor_8h_source.html">EnvSensor.h</a>&gt;</code></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-types" name="pub-types"></a>
Public Types</h2></td></tr>
<tr class="memitem:a1ed69864df2cd8e11429358ba817b30f" id="r_a1ed69864df2cd8e11429358ba817b30f"><td class="memItemLeft" align="right" valign="top">enum &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1EnvSensor.html#a1ed69864df2cd8e11429358ba817b30f">Type</a> { <br />
&#160;&#160;<a class="el" href="classrtabmap_1_1EnvSensor.html#a1ed69864df2cd8e11429358ba817b30fad06ac95d82e3fceb18e1f3dfd190931a">kUndefined</a> = 0
, <a class="el" href="classrtabmap_1_1EnvSensor.html#a1ed69864df2cd8e11429358ba817b30fa1bc42ead6237eb515f301b39e162dee2">kWifiSignalStrength</a>
, <a class="el" href="classrtabmap_1_1EnvSensor.html#a1ed69864df2cd8e11429358ba817b30fa9e348acef07abec64edef43b58ea1b83">kAmbientTemperature</a>
, <a class="el" href="classrtabmap_1_1EnvSensor.html#a1ed69864df2cd8e11429358ba817b30fa2659626ccc2aa59e2d83a57f34e400f0">kAmbientAirPressure</a>
, <br />
&#160;&#160;<a class="el" href="classrtabmap_1_1EnvSensor.html#a1ed69864df2cd8e11429358ba817b30fa8eee701051a2603e162a65d4948a64d8">kAmbientLight</a>
, <a class="el" href="classrtabmap_1_1EnvSensor.html#a1ed69864df2cd8e11429358ba817b30fa7c238626943b1254027ed1b5454ae101">kAmbientRelativeHumidity</a>
, <a class="el" href="classrtabmap_1_1EnvSensor.html#a1ed69864df2cd8e11429358ba817b30fa88e60173d5f413f4ab490a99c034453e">kCustomSensor1</a> = 100
, <a class="el" href="classrtabmap_1_1EnvSensor.html#a1ed69864df2cd8e11429358ba817b30fa9bb90358c0c69177bb8a918cd38aee8a">kCustomSensor2</a>
, <br />
&#160;&#160;<a class="el" href="classrtabmap_1_1EnvSensor.html#a1ed69864df2cd8e11429358ba817b30fa7bcfccab26830a87edcf9dbf7d7b166b">kCustomSensor3</a>
, <a class="el" href="classrtabmap_1_1EnvSensor.html#a1ed69864df2cd8e11429358ba817b30fa53762a7b85a4a07845e8c447e0ba19e7">kCustomSensor4</a>
, <a class="el" href="classrtabmap_1_1EnvSensor.html#a1ed69864df2cd8e11429358ba817b30fafd5342a456a7e150c2d7598a7b297c92">kCustomSensor5</a>
, <a class="el" href="classrtabmap_1_1EnvSensor.html#a1ed69864df2cd8e11429358ba817b30faef0358209e8fe8218ab939fa9ab4a693">kCustomSensor6</a>
, <br />
&#160;&#160;<a class="el" href="classrtabmap_1_1EnvSensor.html#a1ed69864df2cd8e11429358ba817b30faeb1ce734601c915d6a411c76ff4bb8f8">kCustomSensor7</a>
, <a class="el" href="classrtabmap_1_1EnvSensor.html#a1ed69864df2cd8e11429358ba817b30fa24c103c2769770dd36d87e0567be9140">kCustomSensor8</a>
, <a class="el" href="classrtabmap_1_1EnvSensor.html#a1ed69864df2cd8e11429358ba817b30fa669f9ca8a243a813b981ff2b672b0f89">kCustomSensor9</a>
<br />
}</td></tr>
<tr class="memdesc:a1ed69864df2cd8e11429358ba817b30f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Environmental sensor channel identifier. <a href="classrtabmap_1_1EnvSensor.html#a1ed69864df2cd8e11429358ba817b30f">More...</a><br /></td></tr>
<tr class="separator:a1ed69864df2cd8e11429358ba817b30f"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a512758b1afef465b24ce24de8a705dc9" id="r_a512758b1afef465b24ce24de8a705dc9"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1EnvSensor.html#a512758b1afef465b24ce24de8a705dc9">EnvSensor</a> ()</td></tr>
<tr class="memdesc:a512758b1afef465b24ce24de8a705dc9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Default constructor: <a class="el" href="classrtabmap_1_1EnvSensor.html#a1ed69864df2cd8e11429358ba817b30fad06ac95d82e3fceb18e1f3dfd190931a">kUndefined</a> type, zero value and stamp. <br /></td></tr>
<tr class="separator:a512758b1afef465b24ce24de8a705dc9"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8b2f05e0297750a60ccd05c56f141a1b" id="r_a8b2f05e0297750a60ccd05c56f141a1b"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1EnvSensor.html#a8b2f05e0297750a60ccd05c56f141a1b">EnvSensor</a> (const <a class="el" href="classrtabmap_1_1EnvSensor.html#a1ed69864df2cd8e11429358ba817b30f">Type</a> &amp;<a class="el" href="classrtabmap_1_1EnvSensor.html#abae79475fe7e568269a4b4ef4c5a7d24">type</a>, const double &amp;<a class="el" href="classrtabmap_1_1EnvSensor.html#a27b343c9be68fd326c10157102bb750f">value</a>, const double &amp;<a class="el" href="classrtabmap_1_1EnvSensor.html#a1bbcf9a834523dd2e91ef1ab8d31d5e4">stamp</a>=0)</td></tr>
<tr class="memdesc:a8b2f05e0297750a60ccd05c56f141a1b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructs a reading with the given type, value, and optional stamp. <br /></td></tr>
<tr class="separator:a8b2f05e0297750a60ccd05c56f141a1b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abae79475fe7e568269a4b4ef4c5a7d24" id="r_abae79475fe7e568269a4b4ef4c5a7d24"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="classrtabmap_1_1EnvSensor.html#a1ed69864df2cd8e11429358ba817b30f">Type</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1EnvSensor.html#abae79475fe7e568269a4b4ef4c5a7d24">type</a> () const</td></tr>
<tr class="separator:abae79475fe7e568269a4b4ef4c5a7d24"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a27b343c9be68fd326c10157102bb750f" id="r_a27b343c9be68fd326c10157102bb750f"><td class="memItemLeft" align="right" valign="top">const double &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1EnvSensor.html#a27b343c9be68fd326c10157102bb750f">value</a> () const</td></tr>
<tr class="separator:a27b343c9be68fd326c10157102bb750f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1bbcf9a834523dd2e91ef1ab8d31d5e4" id="r_a1bbcf9a834523dd2e91ef1ab8d31d5e4"><td class="memItemLeft" align="right" valign="top">const double &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1EnvSensor.html#a1bbcf9a834523dd2e91ef1ab8d31d5e4">stamp</a> () const</td></tr>
<tr class="separator:a1bbcf9a834523dd2e91ef1ab8d31d5e4"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>Single environmental measurement (type, value, timestamp). </p>
<p>Built-in <a class="el" href="classrtabmap_1_1EnvSensor.html#a1ed69864df2cd8e11429358ba817b30f">Type</a> values cover common phone/robot sensors; <a class="el" href="classrtabmap_1_1EnvSensor.html#a1ed69864df2cd8e11429358ba817b30fa88e60173d5f413f4ab490a99c034453e">kCustomSensor1</a> through <a class="el" href="classrtabmap_1_1EnvSensor.html#a1ed69864df2cd8e11429358ba817b30fa669f9ca8a243a813b981ff2b672b0f89">kCustomSensor9</a> are reserved for application-specific channels. Units depend on the type (see <a class="el" href="classrtabmap_1_1EnvSensor.html#a1ed69864df2cd8e11429358ba817b30f">Type</a>).</p>
<p>Samples are stored per node in <a class="el" href="classrtabmap_1_1SensorData.html">SensorData</a> via <a class="el" href="namespacertabmap.html#ac175ef40b7a4acb632232d3d96a1199a">EnvSensors</a> (one entry per type). Persisted in the database with node records (<a class="el" href="classrtabmap_1_1DBDriver.html">DBDriver</a>).</p>
<dl class="section see"><dt>See also</dt><dd><a class="el" href="classrtabmap_1_1SensorData.html#ab3a5ebf180d5f2f106877b78aee6d1d1" title="Sets all environmental sensors.">SensorData::setEnvSensors()</a> </dd>
<dd>
<a class="el" href="classrtabmap_1_1SensorData.html#a1006dbcfb640b599f0587af3b0ba46ae" title="Adds a single environmental sensor.">SensorData::addEnvSensor()</a> </dd>
<dd>
<a class="el" href="classrtabmap_1_1SensorData.html#a4cce095c69f9fa8f0035c9f2f51c0ff9" title="Returns all environmental sensors.">SensorData::envSensors()</a> </dd></dl>
<p class="definition">Definition at line <a class="el" href="EnvSensor_8h_source.html#l00050">50</a> of file <a class="el" href="EnvSensor_8h_source.html">EnvSensor.h</a>.</p>
</div><h2 class="groupheader">Member Enumeration Documentation</h2>
<a id="a1ed69864df2cd8e11429358ba817b30f" name="a1ed69864df2cd8e11429358ba817b30f"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a1ed69864df2cd8e11429358ba817b30f">&#9670;&#160;</a></span>Type</h2>
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">enum <a class="el" href="classrtabmap_1_1EnvSensor.html#a1ed69864df2cd8e11429358ba817b30f">rtabmap::EnvSensor::Type</a></td>
</tr>
</table>
</div><div class="memdoc">
<p>Environmental sensor channel identifier. </p>
<p>Built-in types use fixed units; custom types (≥ <a class="el" href="classrtabmap_1_1EnvSensor.html#a1ed69864df2cd8e11429358ba817b30fa88e60173d5f413f4ab490a99c034453e">kCustomSensor1</a>) have application-defined meaning and units. </p>
<table class="fieldtable">
<tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><a id="a1ed69864df2cd8e11429358ba817b30fad06ac95d82e3fceb18e1f3dfd190931a" name="a1ed69864df2cd8e11429358ba817b30fad06ac95d82e3fceb18e1f3dfd190931a"></a>kUndefined&#160;</td><td class="fielddoc"><p>Uninitialized / unknown channel. </p>
</td></tr>
<tr><td class="fieldname"><a id="a1ed69864df2cd8e11429358ba817b30fa1bc42ead6237eb515f301b39e162dee2" name="a1ed69864df2cd8e11429358ba817b30fa1bc42ead6237eb515f301b39e162dee2"></a>kWifiSignalStrength&#160;</td><td class="fielddoc"><p>Wi‑Fi signal strength (dBm). </p>
</td></tr>
<tr><td class="fieldname"><a id="a1ed69864df2cd8e11429358ba817b30fa9e348acef07abec64edef43b58ea1b83" name="a1ed69864df2cd8e11429358ba817b30fa9e348acef07abec64edef43b58ea1b83"></a>kAmbientTemperature&#160;</td><td class="fielddoc"><p>Ambient temperature (°C). </p>
</td></tr>
<tr><td class="fieldname"><a id="a1ed69864df2cd8e11429358ba817b30fa2659626ccc2aa59e2d83a57f34e400f0" name="a1ed69864df2cd8e11429358ba817b30fa2659626ccc2aa59e2d83a57f34e400f0"></a>kAmbientAirPressure&#160;</td><td class="fielddoc"><p>Ambient air pressure (hPa). </p>
</td></tr>
<tr><td class="fieldname"><a id="a1ed69864df2cd8e11429358ba817b30fa8eee701051a2603e162a65d4948a64d8" name="a1ed69864df2cd8e11429358ba817b30fa8eee701051a2603e162a65d4948a64d8"></a>kAmbientLight&#160;</td><td class="fielddoc"><p>Ambient illuminance (lx). </p>
</td></tr>
<tr><td class="fieldname"><a id="a1ed69864df2cd8e11429358ba817b30fa7c238626943b1254027ed1b5454ae101" name="a1ed69864df2cd8e11429358ba817b30fa7c238626943b1254027ed1b5454ae101"></a>kAmbientRelativeHumidity&#160;</td><td class="fielddoc"><p>Relative humidity (%). </p>
</td></tr>
<tr><td class="fieldname"><a id="a1ed69864df2cd8e11429358ba817b30fa88e60173d5f413f4ab490a99c034453e" name="a1ed69864df2cd8e11429358ba817b30fa88e60173d5f413f4ab490a99c034453e"></a>kCustomSensor1&#160;</td><td class="fielddoc"><p>User-defined sensor slot 1. </p>
</td></tr>
<tr><td class="fieldname"><a id="a1ed69864df2cd8e11429358ba817b30fa9bb90358c0c69177bb8a918cd38aee8a" name="a1ed69864df2cd8e11429358ba817b30fa9bb90358c0c69177bb8a918cd38aee8a"></a>kCustomSensor2&#160;</td><td class="fielddoc"><p>User-defined sensor slot 2. </p>
</td></tr>
<tr><td class="fieldname"><a id="a1ed69864df2cd8e11429358ba817b30fa7bcfccab26830a87edcf9dbf7d7b166b" name="a1ed69864df2cd8e11429358ba817b30fa7bcfccab26830a87edcf9dbf7d7b166b"></a>kCustomSensor3&#160;</td><td class="fielddoc"><p>User-defined sensor slot 3. </p>
</td></tr>
<tr><td class="fieldname"><a id="a1ed69864df2cd8e11429358ba817b30fa53762a7b85a4a07845e8c447e0ba19e7" name="a1ed69864df2cd8e11429358ba817b30fa53762a7b85a4a07845e8c447e0ba19e7"></a>kCustomSensor4&#160;</td><td class="fielddoc"><p>User-defined sensor slot 4. </p>
</td></tr>
<tr><td class="fieldname"><a id="a1ed69864df2cd8e11429358ba817b30fafd5342a456a7e150c2d7598a7b297c92" name="a1ed69864df2cd8e11429358ba817b30fafd5342a456a7e150c2d7598a7b297c92"></a>kCustomSensor5&#160;</td><td class="fielddoc"><p>User-defined sensor slot 5. </p>
</td></tr>
<tr><td class="fieldname"><a id="a1ed69864df2cd8e11429358ba817b30faef0358209e8fe8218ab939fa9ab4a693" name="a1ed69864df2cd8e11429358ba817b30faef0358209e8fe8218ab939fa9ab4a693"></a>kCustomSensor6&#160;</td><td class="fielddoc"><p>User-defined sensor slot 6. </p>
</td></tr>
<tr><td class="fieldname"><a id="a1ed69864df2cd8e11429358ba817b30faeb1ce734601c915d6a411c76ff4bb8f8" name="a1ed69864df2cd8e11429358ba817b30faeb1ce734601c915d6a411c76ff4bb8f8"></a>kCustomSensor7&#160;</td><td class="fielddoc"><p>User-defined sensor slot 7. </p>
</td></tr>
<tr><td class="fieldname"><a id="a1ed69864df2cd8e11429358ba817b30fa24c103c2769770dd36d87e0567be9140" name="a1ed69864df2cd8e11429358ba817b30fa24c103c2769770dd36d87e0567be9140"></a>kCustomSensor8&#160;</td><td class="fielddoc"><p>User-defined sensor slot 8. </p>
</td></tr>
<tr><td class="fieldname"><a id="a1ed69864df2cd8e11429358ba817b30fa669f9ca8a243a813b981ff2b672b0f89" name="a1ed69864df2cd8e11429358ba817b30fa669f9ca8a243a813b981ff2b672b0f89"></a>kCustomSensor9&#160;</td><td class="fielddoc"><p>User-defined sensor slot 9. </p>
</td></tr>
</table>
<p class="definition">Definition at line <a class="el" href="EnvSensor_8h_source.html#l00059">59</a> of file <a class="el" href="EnvSensor_8h_source.html">EnvSensor.h</a>.</p>
</div>
</div>
<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
<a id="a512758b1afef465b24ce24de8a705dc9" name="a512758b1afef465b24ce24de8a705dc9"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a512758b1afef465b24ce24de8a705dc9">&#9670;&#160;</a></span>EnvSensor() <span class="overload">[1/2]</span></h2>
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<td class="memname">rtabmap::EnvSensor::EnvSensor </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
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<span class="mlabels"><span class="mlabel">inline</span></span> </td>
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<p>Default constructor: <a class="el" href="classrtabmap_1_1EnvSensor.html#a1ed69864df2cd8e11429358ba817b30fad06ac95d82e3fceb18e1f3dfd190931a">kUndefined</a> type, zero value and stamp. </p>
<p class="definition">Definition at line <a class="el" href="EnvSensor_8h_source.html#l00080">80</a> of file <a class="el" href="EnvSensor_8h_source.html">EnvSensor.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a8b2f05e0297750a60ccd05c56f141a1b">&#9670;&#160;</a></span>EnvSensor() <span class="overload">[2/2]</span></h2>
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<td class="memname">rtabmap::EnvSensor::EnvSensor </td>
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<td class="paramtype">const <a class="el" href="classrtabmap_1_1EnvSensor.html#a1ed69864df2cd8e11429358ba817b30f">Type</a> &amp;&#160;</td>
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<p>Constructs a reading with the given type, value, and optional stamp. </p>
<dl class="params"><dt>Parameters</dt><dd>
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<tr><td class="paramname">type</td><td>Sensor channel (<a class="el" href="classrtabmap_1_1EnvSensor.html#a1ed69864df2cd8e11429358ba817b30f">Type</a>). </td></tr>
<tr><td class="paramname">value</td><td>Measurement in the units for <code>type</code>. </td></tr>
<tr><td class="paramname">stamp</td><td>Timestamp in seconds (0 if unknown). </td></tr>
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<p class="definition">Definition at line <a class="el" href="EnvSensor_8h_source.html#l00092">92</a> of file <a class="el" href="EnvSensor_8h_source.html">EnvSensor.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#abe580781fa07811f15fc21511eb2bf8d">&#9670;&#160;</a></span>~EnvSensor()</h2>
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<td class="memname">virtual rtabmap::EnvSensor::~EnvSensor </td>
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<p class="definition">Definition at line <a class="el" href="EnvSensor_8h_source.html#l00098">98</a> of file <a class="el" href="EnvSensor_8h_source.html">EnvSensor.h</a>.</p>
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<h2 class="groupheader">Member Function Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#abae79475fe7e568269a4b4ef4c5a7d24">&#9670;&#160;</a></span>type()</h2>
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<td class="memname">const <a class="el" href="classrtabmap_1_1EnvSensor.html#a1ed69864df2cd8e11429358ba817b30f">Type</a> &amp; rtabmap::EnvSensor::type </td>
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<dl class="section return"><dt>Returns</dt><dd>Sensor channel. </dd></dl>
<p class="definition">Definition at line <a class="el" href="EnvSensor_8h_source.html#l00101">101</a> of file <a class="el" href="EnvSensor_8h_source.html">EnvSensor.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a27b343c9be68fd326c10157102bb750f">&#9670;&#160;</a></span>value()</h2>
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<dl class="section return"><dt>Returns</dt><dd>Measurement value (units depend on <a class="el" href="classrtabmap_1_1EnvSensor.html#abae79475fe7e568269a4b4ef4c5a7d24">type()</a>). </dd></dl>
<p class="definition">Definition at line <a class="el" href="EnvSensor_8h_source.html#l00103">103</a> of file <a class="el" href="EnvSensor_8h_source.html">EnvSensor.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a1bbcf9a834523dd2e91ef1ab8d31d5e4">&#9670;&#160;</a></span>stamp()</h2>
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<td class="memname">const double &amp; rtabmap::EnvSensor::stamp </td>
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<dl class="section return"><dt>Returns</dt><dd>Timestamp in seconds. </dd></dl>
<p class="definition">Definition at line <a class="el" href="EnvSensor_8h_source.html#l00105">105</a> of file <a class="el" href="EnvSensor_8h_source.html">EnvSensor.h</a>.</p>
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<hr/>The documentation for this class was generated from the following file:<ul>
<li>corelib/include/rtabmap/core/<a class="el" href="EnvSensor_8h_source.html">EnvSensor.h</a></li>
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