This class is the base class for all gps tracker objects. More...

#include <GPSTracker.h>

Inheritance diagram for Ocean::Devices::GPSTracker:

Data Structures
class	GPSTrackerSample
	Definition of a sample holding GPS measurements. More...

class	Location
	This class implements a container for a GPS location. More...

Public Types
typedef std::vector< Location >	Locations
	Definition of a vector holding GPS data values.

typedef SmartObjectRef< GPSTrackerSample, Sample >	GPSTrackerSampleRef
	Definition of a smart object reference for GPS tracker samples.

Public Types inherited from Ocean::Devices::Tracker
enum	TrackerType : uint32_t { TRACKER_INVALID = MINOR_INVALID , TRACKER_ORIENTATION_3DOF = (1u << 0u) , TRACKER_POSITION_3DOF = (1u << 1u) , TRACKER_6DOF = TRACKER_ORIENTATION_3DOF \| TRACKER_POSITION_3DOF , SCENE_TRACKER_6DOF = (1u << 2u) \| TRACKER_6DOF , TRACKER_GPS = (1u << 3u) , TRACKER_MAGNETIC = (1u << 4u) , TRACKER_VISUAL = (1u << 5u) , TRACKER_OBJECT = (1u << 6u) }
	Definition of different minor device types. More...

enum	ReferenceSystem { RS_OBJECT_IN_DEVICE , RS_DEVICE_IN_OBJECT }
	Definition of different tracking reference system. More...

typedef float	Frequency
	Definition of a tracker frequency in Hz.

typedef SmartObjectRef< TrackerSample, Sample >	TrackerSampleRef
	Definition of a smart object reference for tracker samples.

typedef Callback< void, const Tracker *, const bool, const ObjectIdSet &, const Timestamp & >	TrackerObjectCallback
	Definition of a callback function to subscribe for lost and found tracker events.

Public Types inherited from Ocean::Devices::Measurement
enum	InterpolationStrategy { IS_INVALID , IS_TIMESTAMP_NEAREST , IS_TIMESTAMP_INTERPOLATE }
	Definition of individual interpolation strategies for samples. More...

using	ObjectId = unsigned int
	Definition of an object id.

using	ObjectIds = std::vector< ObjectId >
	Definition of a vector holding object ids.

using	ObjectIdSet = std::unordered_set< ObjectId >
	Definition of an unordered set holding object ids.

using	Metadata = std::unordered_map< std::string, Value >
	Definition of an unordered map mapping keys to values.

using	SampleRef = ObjectRef< Sample >
	Definition of an object reference for samples.

using	SampleCallback = Callback< void, const Measurement *, const SampleRef & >
	Definition of a callback function to subscribe for new measurement sample events.

Public Types inherited from Ocean::Devices::Device
enum	MajorType : uint32_t { DEVICE_INVALID = 0u , DEVICE_MEASUREMENT = (1u << 0u) , DEVICE_SENSOR = (1u << 1u) \| DEVICE_MEASUREMENT , DEVICE_TRACKER = (1u << 2u) \| DEVICE_MEASUREMENT }
	Definition of all major device types. More...

enum	MinorType : uint32_t { MINOR_INVALID = 0u }
	Base definition of a minor type. More...

Static Public Member Functions
static DeviceType	deviceTypeGPSTracker ()
	Returns the device type of this tracker.

static bool	parseGPSLocation (const std::string &gpsString, double &latitude, double &longitude, double *altitude=nullptr)
	Parses a string with a GPS location.

static bool	decodePolyline (const std::string &polyline, const unsigned int precision, Locations &locations, const bool unescapeBackslash=false)
	Decodes all GPS locations from a polyline.

static double	approximatedDistanceBetweenLocations (const Location &locationA, const Location &locationB, const double earthRadius=6378135.0)
	Calculates the distance between two GPS locations in meters, the location's latitude is not considered.

Static Public Member Functions inherited from Ocean::Devices::Tracker
static std::string	translateTrackerType (const TrackerType trackerType)
	Translates the tracker type to a readable string.

static TrackerType	translateTrackerType (const std::string &trackerType)
	Translates the tracker type from a readable string to a value.

static constexpr Frequency	unknownFrequency ()
	Definition of a constant as unknown frequency.

Static Public Member Functions inherited from Ocean::Devices::Measurement
static constexpr ObjectId	invalidObjectId ()
	Returns an invalid object id.

Static Public Member Functions inherited from Ocean::Devices::Device
static std::string	translateMajorType (const MajorType majorType)
	Translates the major devices type to a readable string.

static MajorType	translateMajorType (const std::string &majorType)
	Translates the major devices type from a readable string to a value.

Protected Member Functions
	GPSTracker (const std::string &name)
	Creates a new GPS tracker object.

	~GPSTracker () override
	Destructs a GPS tracker object.

Protected Member Functions inherited from Ocean::Devices::Tracker
	Tracker (const std::string &name, const DeviceType type)
	Creates a new tracker object.

	~Tracker () override
	Destructs a tracker object.

void	postFoundTrackerObjects (const ObjectIdSet &objectIds, const Timestamp &timestamp)
	Posts a new found tracker objects event.

void	postLostTrackerObjects (const ObjectIdSet &objectIds, const Timestamp &timestamp)
	Posts a new lost tracker objects event.

void	unsubscribeTrackerObjectEvent (const SubscriptionId subscriptionId)
	Unsubscribes a tracker object event callback function.

Protected Member Functions inherited from Ocean::Devices::Measurement
	Measurement (const std::string &name, const DeviceType type)
	Creates a new measurement object.

	~Measurement () override
	Destructs a measurement object.

void	postNewSample (const SampleRef &newSample)
	Posts a new measurement sample.

ObjectId	addUniqueObjectId (const std::string &description)
	Creates a unique object id for a new object (e.g., a tracking object like an image, a marker, or a location).

void	unsubscribeSampleEvent (const SubscriptionId subscriptionId)
	Unsubscribes a sample event callback function.

Protected Member Functions inherited from Ocean::Devices::Device
	Device (const Device &device)=delete
	Disabled copy constructor.

	Device (const std::string &name, const DeviceType type)
	Creates a new device by is name.

virtual	~Device ()
	Destructs a device.

Device &	operator= (const Device &device)=delete
	Disabled copy operator.

Static Protected Member Functions
static bool	decodePolylineValue (const std::string &polyline, size_t &position, int32_t &integerValue, const bool unescapeBackslash)
	Decodes one value from a polyline.

Static Protected Member Functions inherited from Ocean::Devices::Tracker
static ObjectIdSet	determineFoundObjects (const ObjectIdSet &previousObjects, const ObjectIdSet &currentObjects)
	Determines the ids which were not tracked in the previous iteration but tracked in the current iteration.

static ObjectIdSet	determineLostObjects (const ObjectIdSet &previousObjects, const ObjectIdSet &currentObjects)
	Determines the ids which were tracked in the previous iteration but not tracked in the current iteration.

Static Protected Member Functions inherited from Ocean::Devices::Device
static constexpr SubscriptionId	invalidSubscriptionId ()
	Returns an invalid subscription id.

Additional Inherited Members
Public Member Functions inherited from Ocean::Devices::Tracker
virtual Frequency	frequency () const
	Returns the frequency of this tracker.

virtual bool	isObjectTracked (const ObjectId &objectId) const
	Returns whether a specific object is currently actively tracked by this tracker.

TrackerObjectEventSubscription	subscribeTrackerObjectEvent (TrackerObjectCallback &&callback)
	Subscribes a callback event function for tracker object (found or lost) events.

virtual HomogenousMatrixD4	reference () const
	Returns the reference coordinate system of this tracker.

Public Member Functions inherited from Ocean::Devices::Measurement
size_t	sampleCapacity () const
	Returns the capacity of the internal sample container.

bool	setSampleCapacity (const size_t capacity)
	Sets the capacity of the internal sample container.

virtual SampleRef	sample () const
	Returns the most recent sample.

virtual SampleRef	sample (const Timestamp timestamp) const
	Returns the sample with a specific timestamp.

virtual SampleRef	sample (const Timestamp &timestamp, const InterpolationStrategy interpolationStrategy) const
	Returns the sample best matching with a specified timestamp.

SampleEventSubscription	subscribeSampleEvent (SampleCallback &&callback)
	Subscribes a callback event function for new measurement sample events.

ObjectId	objectId (const std::string &description) const
	Returns the object id for an object description.

Strings	objectDescriptions () const
	Returns descriptions of all objects currently available.

std::string	objectDescription (const ObjectId objectId) const
	Returns the description of one object of this measurement.

Public Member Functions inherited from Ocean::Devices::Device
const std::string &	name () const
	Returns the name of this device.

virtual const std::string &	library () const =0
	Returns the name of the owner library.

virtual bool	isStarted () const
	Returns whether this device is active.

bool	isValid () const
	Returns whether this device is valid.

bool	isExclusive () const
	Returns whether this device can be use exclusively.

virtual bool	start ()
	Starts the device.

virtual bool	pause ()
	Pauses the device.

virtual bool	stop ()
	Stops the device.

virtual bool	setParameter (const std::string &parameter, const Value &value)
	Sets an abstract parameter of this device.

virtual bool	parameter (const std::string &parameter, Value &value)
	Returns an abstract parameter of this device.

DeviceType	type () const
	Returns the major and minor type of this device.

Protected Types inherited from Ocean::Devices::Tracker
typedef std::unordered_map< SubscriptionId, TrackerObjectCallback >	TrackerObjectSubscriptionMap
	Definition of a map mapping subscription ids to tracker object event callback functions.

Protected Types inherited from Ocean::Devices::Measurement
using	SampleMap = std::map< Timestamp, SampleRef >
	Definition of a map holding the most recent samples.

using	ObjectDescriptionToIdMap = std::unordered_map< std::string, ObjectId >
	Definition of an unordered map mapping descriptions to unique object ids.

using	ObjectIdToDescriptionMap = std::unordered_map< ObjectId, std::string >
	Definition of an unordered map mapping unique object ids to descriptions.

using	SampleSubscriptionMap = std::unordered_map< SubscriptionId, SampleCallback >
	Definition of a map mapping subscription ids to event sample callback functions.

Protected Types inherited from Ocean::Devices::Device
typedef unsigned int	SubscriptionId
	Definition of a subscription id for event callbacks.

Protected Attributes inherited from Ocean::Devices::Tracker
TrackerObjectSubscriptionMap	trackerObjectSubscriptionMap_
	Map holding all tracker object event subscriptions.

SubscriptionId	nextTrackerObjectSubscriptionId_ = SubscriptionId(invalidSubscriptionId() + 1u)
	The subscription id of the next event subscription.

Protected Attributes inherited from Ocean::Devices::Measurement
Lock	samplesLock_
	Sample lock.

Lock	subscriptionLock_
	Subscription lock.

Protected Attributes inherited from Ocean::Devices::Device
std::string	deviceName
	Name of this device.

DeviceType	deviceType
	Major and minor type of this device.

bool	deviceIsValid
	Flag determining whether this device is valid.

Lock	deviceLock
	Device lock.

Detailed Description

This class is the base class for all gps tracker objects.

Member Typedef Documentation

◆ GPSTrackerSampleRef

typedef SmartObjectRef<GPSTrackerSample, Sample> Ocean::Devices::GPSTracker::GPSTrackerSampleRef

Definition of a smart object reference for GPS tracker samples.

◆ Locations

typedef std::vector<Location> Ocean::Devices::GPSTracker::Locations

Definition of a vector holding GPS data values.

Constructor & Destructor Documentation

◆ GPSTracker()

Ocean::Devices::GPSTracker::GPSTracker ( const std::string & name )

explicitprotected

Creates a new GPS tracker object.

Parameters

name	The name of the gps tracker

◆ ~GPSTracker()

Ocean::Devices::GPSTracker::~GPSTracker ( )

overrideprotected

Destructs a GPS tracker object.

Member Function Documentation

◆ approximatedDistanceBetweenLocations()

static double Ocean::Devices::GPSTracker::approximatedDistanceBetweenLocations	(	const Location &	locationA,
		const Location &	locationB,
		const double	earthRadius = `6378135.0`
	)

static

Calculates the distance between two GPS locations in meters, the location's latitude is not considered.

The resulting distance is an approximation based on a perfect sphere.

Parameters

locationA	The first GPS location, must be valid
locationB	The second GPS location, must be valid
earthRadius	The radius of the earth in meter, with range (0, infinity)

Returns: The approximated distance between both locations, in meter, with range [0, earthRadius * PI]

◆ decodePolyline()

static bool Ocean::Devices::GPSTracker::decodePolyline	(	const std::string &	polyline,
		const unsigned int	precision,
		Locations &	locations,
		const bool	unescapeBackslash = `false`
	)

static

Decodes all GPS locations from a polyline.

Polyline encoding is a lossy compression algorithm that allows you to store a series of coordinates as a single string.
More details: https://developers.google.com/maps/documentation/utilities/polylinealgorithm

Parameters

polyline	The polyline to decode, must be valid
precision	The precision of decimal places the given polyline has, with range [1, 8]
locations	The resulting individual locations
unescapeBackslash	True, to unescape two consecutive backslash in the polyline to one backslash; False, to use the polyline as it is

Returns: True, if succeeded

◆ decodePolylineValue()

static bool Ocean::Devices::GPSTracker::decodePolylineValue	(	const std::string &	polyline,
		size_t &	position,
		int32_t &	integerValue,
		const bool	unescapeBackslash
	)

staticprotected

Decodes one value from a polyline.

Parameters

polyline	The polyline from which the value will be decoded, must be valid
position	The current position within the polyline, will be moved to the next value position, with range [0, polyline.length() - 1]
integerValue	The resulting value with integer precision (not yet normalized)
unescapeBackslash	True, to unescape two consecutive backslash in the polyline to one backslash; False, to use the polyline as it is

Returns: True, if succeeded

See also: decodePolyline().

◆ deviceTypeGPSTracker()

GPSTracker::DeviceType Ocean::Devices::GPSTracker::deviceTypeGPSTracker ( )

inlinestatic

Returns the device type of this tracker.

Returns: Device type

◆ parseGPSLocation()

static bool Ocean::Devices::GPSTracker::parseGPSLocation	(	const std::string &	gpsString,
		double &	latitude,
		double &	longitude,
		double *	altitude = `nullptr`
	)

static

Parses a string with a GPS location.

The given string must have one of the following patterns:

GPS Location {latitude}, {longitude}
GPS Location {latitude}, {longitude}, {altitude}
e.g.,
GPS Location 37.48507, -122.14829
GPS Location 37.48507, -122.14829, 10.0

Parameters

gpsString	The string to be parsed
latitude	The resulting latitude value
longitude	The resulting longitude value
altitude	Optional resulting altitude; nullptr to not allow an altitude value in a valid input string

Returns: True, if succeeded; Also True, if the 'altitude' parameter is not nullptr but no altitude value is present in 'gpsString'

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

GPSTracker.h

Data Structures

Public Types

Static Public Member Functions

Protected Member Functions

Static Protected Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ GPSTrackerSampleRef

◆ Locations

Constructor & Destructor Documentation

◆ GPSTracker()

◆ ~GPSTracker()

Member Function Documentation

◆ approximatedDistanceBetweenLocations()

◆ decodePolyline()

◆ decodePolylineValue()

◆ deviceTypeGPSTracker()

◆ parseGPSLocation()