#include <mrpt/hwdrivers/CBoardENoses.h>
Public Member Functions | |
CBoardENoses () | |
Constructor. | |
virtual | ~CBoardENoses () |
Destructor. | |
void | loadConfig (const mrpt::utils::CConfigFileBase *configSource, const std::string &iniSection) |
Loads specific configuration for the device from a given source of configuration parameters, for example, an ".ini" file, loading from the section "[iniSection]" (see utils::CConfigFileBase and derived classes) See hwdrivers::CBoardENoses for the possible parameters. | |
bool | queryFirmwareVersion (std::string &out_firmwareVersion) |
Query the firmware version on the device (can be used to test communications). | |
bool | getObservation (mrpt::slam::CObservationGasSensors &outObservation) |
Request the master eNose the latest readings from all the eNoses. | |
Protected Member Functions | |
bool | checkConnectionAndConnect () |
Tries to connect to the USB device (if disconnected). | |
Protected Attributes | |
std::string | m_usbSerialNumber |
A copy of the device serial number (to open the USB FTDI chip). | |
std::vector< float > | enose_poses_x |
The 3D pose of the master + N slave eNoses on the robot (meters & radians). | |
std::vector< float > | enose_poses_y |
std::vector< float > | enose_poses_z |
std::vector< float > | enose_poses_yaw |
std::vector< float > | enose_poses_pitch |
std::vector< float > | enose_poses_roll |
Implemented for the board v1.0 designed by 2007 @ ISA (University of Malaga).
PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS: ------------------------------------------------------- [supplied_section_name] USB_serialname=ENOSE001 ; 3D position (in meters) of the master +slave eNoses enose_poses_x=<MASTER X> <SLAVE#1 X> <SLAVE#2 X> <SLAVE#3 X>... enose_poses_y=<MASTER Y> <SLAVE#1 Y> <SLAVE#2 Y> <SLAVE#3 Y>... enose_poses_z=<MASTER Z> <SLAVE#1 Z> <SLAVE#2 Z> <SLAVE#3 Z>... ; 3D pose angles (in degrees) of the master +slave eNoses enose_poses_yaw=<MASTER YAW> <SLAVE#1 YAW> <SLAVE#2 YAW> <SLAVE#3 YAW>... enose_poses_pitch=<MASTER PITCH> <SLAVE#1 PITCH> <SLAVE#2 PITCH> <SLAVE#3 PITCH>... enose_poses_roll=<MASTER ROLL> <SLAVE#1 ROLL> <SLAVE#2 ROLL> <SLAVE#3 ROLL>...
Definition at line 64 of file CBoardENoses.h.
mrpt::hwdrivers::CBoardENoses::CBoardENoses | ( | ) |
Constructor.
serialNumberUSBdevice | The serial number (text) of the device to open. The constructor will try to open the device. You can check if it failed calling "isOpen()". |
virtual mrpt::hwdrivers::CBoardENoses::~CBoardENoses | ( | ) | [virtual] |
Destructor.
bool mrpt::hwdrivers::CBoardENoses::checkConnectionAndConnect | ( | ) | [protected] |
Tries to connect to the USB device (if disconnected).
bool mrpt::hwdrivers::CBoardENoses::getObservation | ( | mrpt::slam::CObservationGasSensors & | outObservation | ) |
Request the master eNose the latest readings from all the eNoses.
The output observation contains a valid timestamp and 3D positions if "loadConfig" has been called previously.
void mrpt::hwdrivers::CBoardENoses::loadConfig | ( | const mrpt::utils::CConfigFileBase * | configSource, | |
const std::string & | iniSection | |||
) |
Loads specific configuration for the device from a given source of configuration parameters, for example, an ".ini" file, loading from the section "[iniSection]" (see utils::CConfigFileBase and derived classes) See hwdrivers::CBoardENoses for the possible parameters.
bool mrpt::hwdrivers::CBoardENoses::queryFirmwareVersion | ( | std::string & | out_firmwareVersion | ) |
Query the firmware version on the device (can be used to test communications).
std::vector<float> mrpt::hwdrivers::CBoardENoses::enose_poses_pitch [protected] |
Definition at line 73 of file CBoardENoses.h.
std::vector<float> mrpt::hwdrivers::CBoardENoses::enose_poses_roll [protected] |
Definition at line 73 of file CBoardENoses.h.
std::vector<float> mrpt::hwdrivers::CBoardENoses::enose_poses_x [protected] |
The 3D pose of the master + N slave eNoses on the robot (meters & radians).
Definition at line 73 of file CBoardENoses.h.
std::vector<float> mrpt::hwdrivers::CBoardENoses::enose_poses_y [protected] |
Definition at line 73 of file CBoardENoses.h.
std::vector<float> mrpt::hwdrivers::CBoardENoses::enose_poses_yaw [protected] |
Definition at line 73 of file CBoardENoses.h.
std::vector<float> mrpt::hwdrivers::CBoardENoses::enose_poses_z [protected] |
Definition at line 73 of file CBoardENoses.h.
std::string mrpt::hwdrivers::CBoardENoses::m_usbSerialNumber [protected] |
A copy of the device serial number (to open the USB FTDI chip).
Definition at line 69 of file CBoardENoses.h.
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