#include <mrpt/hwdrivers/CIMUXSens.h>
Public Member Functions | ||||
CIMUXSens () | ||||
Constructor. | ||||
virtual | ~CIMUXSens () | |||
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::CHokuyoURG for the possible parameters. | ||||
void | doProcess () | |||
This method will be invoked at a minimum rate of "process_rate" (Hz)
| ||||
void | initialize () | |||
Turns on the xSens device and configure it for getting orientation data. | ||||
Protected Member Functions | ||||
bool | searchPortAndConnect () | |||
Search the port where the sensor is located and connect to it. | ||||
Protected Attributes | ||||
std::string | m_sensorLabel | |||
This serial port will be attempted to be opened automatically when this class is first used to request data from the device. | ||||
int | m_COMbauds | |||
std::string | m_com_port | |||
uint64_t | m_timeStartUI | |||
mrpt::system::TTimeStamp | m_timeStartTT | |||
mrpt::poses::CPose3D | m_sensorPose | |||
void * | m_cmt3_ptr | |||
void * | m_deviceId_ptr | |||
unsigned int | m_toutCounter | |||
Timeout counter (for internal use only). |
The class implements the generic See also the application "rawlog-grabber" for a ready-to-use application to gather data from the scanner.
PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
-------------------------------------------------------
[supplied_section_name]
pose_x=0 ; Sensor 3D position relative to the robot (meters)
pose_y=0
pose_z=0
pose_yaw=0 ; Angles in degrees
pose_pitch=0
pose_roll=0
sensorLabel = <label> ; Label of the sensor
COM_port_LIN = /dev/ttyUSB0 ; COM PORT in LINUX (optional. If not provided, the system will search the connected port)
COM_port_WIN = COM1 ; COM PORT in Windows (optional. If not provided, the system will search the connected port)
baudRate ; Baudrate for communicating with the COM port (mandatory for Linux)
(for Windows, if COM_port_WIN is not provided, this value is ignored)
Definition at line 64 of file CIMUXSens.h.
mrpt::hwdrivers::CIMUXSens::CIMUXSens | ( | ) |
Constructor.
virtual mrpt::hwdrivers::CIMUXSens::~CIMUXSens | ( | ) | [virtual] |
Destructor.
void mrpt::hwdrivers::CIMUXSens::doProcess | ( | ) | [virtual] |
This method will be invoked at a minimum rate of "process_rate" (Hz)
This | method must throw an exception with a descriptive message if some critical error is found. |
Implements mrpt::hwdrivers::CGenericSensor.
void mrpt::hwdrivers::CIMUXSens::initialize | ( | ) | [virtual] |
Turns on the xSens device and configure it for getting orientation data.
Reimplemented from mrpt::hwdrivers::CGenericSensor.
void mrpt::hwdrivers::CIMUXSens::loadConfig | ( | const mrpt::utils::CConfigFileBase & | configSource, | |
const std::string & | iniSection | |||
) | [virtual] |
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::CHokuyoURG for the possible parameters.
Implements mrpt::hwdrivers::CGenericSensor.
bool mrpt::hwdrivers::CIMUXSens::searchPortAndConnect | ( | ) | [protected] |
Search the port where the sensor is located and connect to it.
void* mrpt::hwdrivers::CIMUXSens::m_cmt3_ptr [protected] |
Definition at line 86 of file CIMUXSens.h.
std::string mrpt::hwdrivers::CIMUXSens::m_com_port [protected] |
Definition at line 74 of file CIMUXSens.h.
int mrpt::hwdrivers::CIMUXSens::m_COMbauds [protected] |
Definition at line 73 of file CIMUXSens.h.
void* mrpt::hwdrivers::CIMUXSens::m_deviceId_ptr [protected] |
Definition at line 87 of file CIMUXSens.h.
std::string mrpt::hwdrivers::CIMUXSens::m_sensorLabel [protected] |
This serial port will be attempted to be opened automatically when this class is first used to request data from the device.
Definition at line 72 of file CIMUXSens.h.
Definition at line 78 of file CIMUXSens.h.
Definition at line 76 of file CIMUXSens.h.
uint64_t mrpt::hwdrivers::CIMUXSens::m_timeStartUI [protected] |
Definition at line 75 of file CIMUXSens.h.
unsigned int mrpt::hwdrivers::CIMUXSens::m_toutCounter [protected] |
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