PositionDetector3D.h

Go to the documentation of this file.

// ----------------------------------------------------------------------------
//
// $Id$
//
// Copyright 2008, 2009, 2010, 2011, 2012  Antonio Franchi and Paolo Stegagno    
//
// This file is part of MIP.
//
// MIP is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// MIP is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with MIP. If not, see <http://www.gnu.org/licenses/>.
//
// Contact info: antonio.franchi@tuebingen.mpg.de stegagno@diag.uniroma1.it
//
// ----------------------------------------------------------------------------







#ifndef __GPS_SENSOR3D_H_
#define __GPS_SENSOR3D_H_

#ifdef MIP_HOST_APPLE
#include <applePatch.h>
#endif

#include <stdlib.h>
#include <string>
#include <sstream>
#include <vector>
#include <assert.h>
#include <pthread.h>

#include <baselib.h>
#include <Resource.h>

using namespace MipBaselib;

namespace MipResources{

/* @{ */


class PositionDetector3DPar
{
 private:
  string  _name;  

  Pose3D  _pose3D; 

  Decimal  _rate;  

  Decimal  _latitude; 
  
  Decimal  _longitude; 

  Decimal  _altitude; 

  Decimal  _hdop;  

  Decimal  _vdop;  

  Decimal  _herr;  
 
  Decimal  _verr;  

  Decimal  _uest;  
 
  Decimal  _unorth; 

  Decimal  _time;  

  uint  _numsat; 

  uint  _quality; 
 

 protected:
  void setGPSName(string value)
  {
   _name = value;
   return;
  }

  void setGPSPose(Pose3D value)
  {
   _pose3D = value;
   return;
  }

  void setGPSRate(Decimal value)
  {
   assert(value>0);
   _rate = value;
   return;
  }

 public:

   ~PositionDetector3DPar(){};

  PositionDetector3DPar ()
  {
   _rate  = 1.0;
   _pose3D  = Pose3D();
   _name  = string();
   _latitude = 0.0;
   _longitude = 0.0;
   _altitude = 0.0;
   _hdop  = 0.0;
   _vdop  = 0.0;
   _herr  = 0.0;
   _verr  = 0.0;
   _uest  = 0.0;
   _unorth  = 0.0;
   _time  = 0.0;
   _numsat  = 0;
   _quality = 0;
  }
  
  PositionDetector3DPar(const PositionDetector3DPar &s)
  {
   _rate  = s._rate;
   _pose3D  = s._pose3D;
   _name  = s._name;
   _latitude = s._latitude; 
   _longitude = s._longitude;
   _altitude = s._altitude; 
   _hdop  = s._hdop;
   _vdop  = s._vdop;
   _herr  = s._herr;
   _verr  = s._verr;
   _uest  = s._uest;
   _unorth  = s._unorth; 
   _time  = s._time;
   _numsat  = s._numsat; 
   _quality = s._quality;
  }


  PositionDetector3DPar& operator=(const PositionDetector3DPar& s)
  {
   if (this != &s)
   {
    _rate  = s._rate;
    _pose3D  = s._pose3D;
    _name  = s._name;
    _latitude = s._latitude; 
    _longitude = s._longitude;
    _altitude = s._altitude; 
    _hdop  = s._hdop;
    _vdop  = s._vdop;
    _herr  = s._herr;
    _verr  = s._verr;
    _uest  = s._uest;
    _unorth  = s._unorth; 
    _time  = s._time;
    _numsat  = s._numsat; 
    _quality = s._quality;
   }
   return *this;
  }

  
};

class PositionDetector3DVar {};

class PositionDetector3D : public Resource
{
 private:
  bool _GPSavail; 
 
 protected:
  PositionDetector3DPar *_par; 
 public:
  
  virtual ResourcePlate getPlate() const =0;

  PositionDetector3D()
  {
          cout << "PositionDetector3D::PositionDetector3D()." << endl;
          _par = new PositionDetector3DPar();
   _GPSavail = false;
   cout << "PositionDetector3D OK." << endl;
  };

  ~PositionDetector3D(){};

  virtual  bool getGPSMeasure(Position3D &pos, Decimal *MeasTime)=0; 
  virtual  bool getRefGPSMeasure(Position3D &pos, Decimal *MeasTime)=0; 
};

 /* @} */
 
};// end namespace MipResources{


#endif