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43 gps.getObservations(lst);
45 std::vector<mrpt::serialization::CSerializable::Ptr> vect;
46 vect.reserve(lst.size());
47 for (
auto it = lst.begin(); it != lst.end(); ++it)
48 vect.push_back(it->second);
49 this->appendObservations(vect);
53 std::string sLastGGA = gps.getLastGGA();
54 if (!sLastGGA.empty())
57 cout <<
"[CGPS_NTRIP] Redirecting GGA frame from GPS->NTRIP: '"
58 << sLastGGA <<
"'" << endl;
60 ntrip.getNTRIPClient().sendBackToServer(sLastGGA + std::string(
"\r\n"));
std::multimap< mrpt::system::TTimeStamp, mrpt::serialization::CSerializable::Ptr > TListObservations
void initialize() override
This method can or cannot be implemented in the derived class, depending on the need for it.
void doProcess() override
This method will be invoked at a minimum rate of "process_rate" (Hz)
Contains classes for various device interfaces.
void loadConfig_sensorSpecific(const mrpt::config::CConfigFileBase &configSource, const std::string &iniSection) override
See the class documentation at the top for expected parameters.
This namespace contains representation of robot actions and observations.
A combination of GPS receiver + NTRIP receiver capable of submitting GGA frames to enable RTCM 3....
This class allows loading and storing values and vectors of different types from a configuration text...
A wrapper for other CConfigFileBase-based objects that prefixes a given token to every key and/or sec...
#define IMPLEMENTS_GENERIC_SENSOR(class_name, NameSpace)
This must be inserted in all CGenericSensor classes implementation files:
~CGPS_NTRIP() override
Destructor.
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