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<h1>CActivMediaRobotBase.h</h1><a href="_c_activ_media_robot_base_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* +---------------------------------------------------------------------------+</span>
<a name="l00002"></a>00002 <span class="comment"> | The Mobile Robot Programming Toolkit (MRPT) C++ library |</span>
<a name="l00003"></a>00003 <span class="comment"> | |</span>
<a name="l00004"></a>00004 <span class="comment"> | http://mrpt.sourceforge.net/ |</span>
<a name="l00005"></a>00005 <span class="comment"> | |</span>
<a name="l00006"></a>00006 <span class="comment"> | Copyright (C) 2005-2010 University of Malaga |</span>
<a name="l00007"></a>00007 <span class="comment"> | |</span>
<a name="l00008"></a>00008 <span class="comment"> | This software was written by the Machine Perception and Intelligent |</span>
<a name="l00009"></a>00009 <span class="comment"> | Robotics Lab, University of Malaga (Spain). |</span>
<a name="l00010"></a>00010 <span class="comment"> | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |</span>
<a name="l00011"></a>00011 <span class="comment"> | |</span>
<a name="l00012"></a>00012 <span class="comment"> | This file is part of the MRPT project. |</span>
<a name="l00013"></a>00013 <span class="comment"> | |</span>
<a name="l00014"></a>00014 <span class="comment"> | MRPT is free software: you can redistribute it and/or modify |</span>
<a name="l00015"></a>00015 <span class="comment"> | it under the terms of the GNU General Public License as published by |</span>
<a name="l00016"></a>00016 <span class="comment"> | the Free Software Foundation, either version 3 of the License, or |</span>
<a name="l00017"></a>00017 <span class="comment"> | (at your option) any later version. |</span>
<a name="l00018"></a>00018 <span class="comment"> | |</span>
<a name="l00019"></a>00019 <span class="comment"> | MRPT is distributed in the hope that it will be useful, |</span>
<a name="l00020"></a>00020 <span class="comment"> | but WITHOUT ANY WARRANTY; without even the implied warranty of |</span>
<a name="l00021"></a>00021 <span class="comment"> | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |</span>
<a name="l00022"></a>00022 <span class="comment"> | GNU General Public License for more details. |</span>
<a name="l00023"></a>00023 <span class="comment"> | |</span>
<a name="l00024"></a>00024 <span class="comment"> | You should have received a copy of the GNU General Public License |</span>
<a name="l00025"></a>00025 <span class="comment"> | along with MRPT. If not, see <http://www.gnu.org/licenses/>. |</span>
<a name="l00026"></a>00026 <span class="comment"> | |</span>
<a name="l00027"></a>00027 <span class="comment"> +---------------------------------------------------------------------------+ */</span>
<a name="l00028"></a>00028 <span class="preprocessor">#ifndef CActivMediaRobotBase_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define CActivMediaRobotBase_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span>
<a name="l00031"></a>00031 <span class="preprocessor">#include <<a class="code" href="_c_generic_sensor_8h.html">mrpt/hwdrivers/CGenericSensor.h</a>></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="hwdrivers_2include_2mrpt_2hwdrivers_2link__pragmas_8h.html">mrpt/hwdrivers/link_pragmas.h</a>></span>
<a name="l00033"></a>00033 <span class="preprocessor">#include <<a class="code" href="_c_pose2_d_8h.html">mrpt/poses/CPose2D.h</a>></span>
<a name="l00034"></a>00034 <span class="preprocessor">#include <<a class="code" href="_c_observation_range_8h.html">mrpt/slam/CObservationRange.h</a>></span>
<a name="l00035"></a>00035 <span class="preprocessor">#include <<a class="code" href="_c_joystick_8h.html">mrpt/hwdrivers/CJoystick.h</a>></span>
<a name="l00036"></a>00036
<a name="l00037"></a>00037 <span class="keyword">namespace </span>mrpt
<a name="l00038"></a><a class="code" href="structmrpt_1_1hwdrivers_1_1_c_activ_media_robot_base_1_1_t_robot_description.html#a531f9673eae9b4f84adb3830e9960f50">00038</a> {
<a name="l00039"></a><a class="code" href="structmrpt_1_1hwdrivers_1_1_c_activ_media_robot_base_1_1_t_robot_description.html#af9df3e373e49117438686725437c850b">00039</a> <span class="keyword">namespace </span>hwdrivers
<a name="l00040"></a><a class="code" href="structmrpt_1_1hwdrivers_1_1_c_activ_media_robot_base_1_1_t_robot_description.html#a805b1c3af7b3450311db8f361d4bf7d3">00040</a> {<span class="comment"></span>
<a name="l00041"></a><a class="code" href="structmrpt_1_1hwdrivers_1_1_c_activ_media_robot_base_1_1_t_robot_description.html">00041</a> <span class="comment"> /** This software driver implements the communications (and some rudimentary control) for ActivMedia robotic bases (Pioneer DX/AT, PeopleBot, etc).</span>
<a name="l00042"></a>00042 <span class="comment"> * There is implemented access to robot odometry, ticks counts, velocities, battery charge status, and sonar readings, as well as</span>
<a name="l00043"></a>00043 <span class="comment"> * basic velocity control.</span>
<a name="l00044"></a>00044 <span class="comment"> *</span>
<a name="l00045"></a>00045 <span class="comment"> * It is required to check MRPT_BUILD_ARIA in the cmake configuration to enable this class to work properly.</span>
<a name="l00046"></a>00046 <span class="comment"> *</span>
<a name="l00047"></a>00047 <span class="comment"> * See also the application "rawlog-grabber" for a ready-to-use application to gather data from the robot base.</span>
<a name="l00048"></a>00048 <span class="comment"> * Through that "common sensor interface", this object can collect these kinds of observations:</span>
<a name="l00049"></a>00049 <span class="comment"> * - mrpt::slam::CObservationOdometry : For odometry</span>
<a name="l00050"></a>00050 <span class="comment"> * - mrpt::slam::CObservationRange : For sonars</span>
<a name="l00051"></a>00051 <span class="comment"> *</span>
<a name="l00052"></a>00052 <span class="comment"> * To use this class out of rawlog-grabber, "initialize" must be called to connect to the robot.</span>
<a name="l00053"></a>00053 <span class="comment"> * Before that, set the serial port with setSerialPortConfig.</span>
<a name="l00054"></a>00054 <span class="comment"> *</span>
<a name="l00055"></a>00055 <span class="comment"> *</span>
<a name="l00056"></a>00056 <span class="comment"> *</span>
<a name="l00057"></a>00057 <span class="comment"> * Example .ini block for rawlog-grabber (format used in "loadConfig"):</span>
<a name="l00058"></a>00058 <span class="comment"> *</span>
<a name="l00059"></a>00059 <span class="comment"> * \code</span>
<a name="l00060"></a>00060 <span class="comment"> * PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:</span>
<a name="l00061"></a>00061 <span class="comment"> * -------------------------------------------------------</span>
<a name="l00062"></a>00062 <span class="comment"> * [supplied_section_name]</span>
<a name="l00063"></a>00063 <span class="comment"> * robotPort_WIN = COM1</span>
<a name="l00064"></a>00064 <span class="comment"> * robotPort_LIN = /dev/ttyUSB0</span>
<a name="l00065"></a>00065 <span class="comment"> * robotBaud = 115200</span>
<a name="l00066"></a>00066 <span class="comment"> * enableSonars = 0 ; 0:Disabled (default), 1: Enabled</span>
<a name="l00067"></a>00067 <span class="comment"> * capture_rate = 10.0 ; In Hz, the rate at which sonars & odometry are gathered (default=10Hz)</span>
<a name="l00068"></a>00068 <span class="comment"> *</span>
<a name="l00069"></a>00069 <span class="comment"> * joystick_control = 0 ; 0:Disabled (default), 1: Enabled</span>
<a name="l00070"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_activ_media_robot_base.html#a18af3de8aab272b138696632410f83e2">00070</a> <span class="comment"> * joystick_max_v = 0.1 ; Max joystick control speed (m/s)</span>
<a name="l00071"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_activ_media_robot_base.html">00071</a> <span class="comment"> * joystick_max_w_degps = 20 ; Max joystick control speed (deg/s)</span>
<a name="l00072"></a>00072 <span class="comment"> *</span>
<a name="l00073"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_activ_media_robot_base.html#a6ae2710131e6368d4a3eda28dce3953d">00073</a> <span class="comment"> * \endcode</span>
<a name="l00074"></a>00074 <span class="comment"> */</span>
<a name="l00075"></a>00075 <span class="keyword">class </span><a class="code" href="hwdrivers__impexp_8h.html#a5bcf681973c7e4e76310bd0791f1b612">HWDRIVERS_IMPEXP</a> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_activ_media_robot_base.html" title="This software driver implements the communications (and some rudimentary control)...">CActivMediaRobotBase</a> : <span class="keyword">public</span> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html" title="A generic interface for a wide-variety of sensors designed to be used in the application...">CGenericSensor</a>
<a name="l00076"></a>00076 {
<a name="l00077"></a>00077 <a class="code" href="_c_generic_sensor_8h.html#ab8b72c811c520eb036fa4080d9cd9d1d" title="This declaration must be inserted in all CGenericSensor classes definition, within...">DEFINE_GENERIC_SENSOR</a>(<a class="code" href="classmrpt_1_1hwdrivers_1_1_c_activ_media_robot_base.html" title="This software driver implements the communications (and some rudimentary control)...">CActivMediaRobotBase</a>)
<a name="l00078"></a>00078 <span class="keyword">public</span>:
<a name="l00079"></a>00079 <span class="comment"></span>
<a name="l00080"></a>00080 <span class="comment"> /** A structure describing the robot */</span>
<a name="l00081"></a>00081 <span class="keyword">struct </span><a class="code" href="hwdrivers__impexp_8h.html#a5bcf681973c7e4e76310bd0791f1b612">HWDRIVERS_IMPEXP</a> TRobotDescription
<a name="l00082"></a>00082 {
<a name="l00083"></a>00083 TRobotDescription(); <span class="comment">//!< Init</span>
<a name="l00084"></a>00084 <span class="comment"></span> <span class="keywordtype">size_t</span> nFrontBumpers; <span class="comment">//!< Number of front bumpers</span>
<a name="l00085"></a>00085 <span class="comment"></span> <span class="keywordtype">size_t</span> nRearBumpers; <span class="comment">//!< Number of rear bumpers</span>
<a name="l00086"></a>00086 <span class="comment"></span> <span class="keywordtype">size_t</span> nSonars; <span class="comment">//!< Number of sonars</span>
<a name="l00087"></a>00087 <span class="comment"></span> };
<a name="l00088"></a>00088
<a name="l00089"></a>00089 <span class="comment"></span>
<a name="l00090"></a>00090 <span class="comment"> /** Connects to the robot */</span>
<a name="l00091"></a>00091 <span class="keywordtype">void</span> initialize();
<a name="l00092"></a>00092 <span class="comment"></span>
<a name="l00093"></a>00093 <span class="comment"> /** Constructor</span>
<a name="l00094"></a>00094 <span class="comment"> */</span>
<a name="l00095"></a>00095 <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_activ_media_robot_base.html" title="This software driver implements the communications (and some rudimentary control)...">CActivMediaRobotBase</a>();
<a name="l00096"></a>00096 <span class="comment"></span>
<a name="l00097"></a>00097 <span class="comment"> /** Destructor: turns off communications */</span>
<a name="l00098"></a>00098 <span class="keyword">virtual</span> ~<a class="code" href="classmrpt_1_1hwdrivers_1_1_c_activ_media_robot_base.html" title="This software driver implements the communications (and some rudimentary control)...">CActivMediaRobotBase</a>();
<a name="l00099"></a>00099 <span class="comment"></span>
<a name="l00100"></a>00100 <span class="comment"> /** Manually sets the serial port configuration.</span>
<a name="l00101"></a>00101 <span class="comment"> * \param portName Examples: Windows: "COM1" , Linux: "/dev/ttyUSB0"</span>
<a name="l00102"></a>00102 <span class="comment"> * \param portBaudRate 9600, 115200, etc..</span>
<a name="l00103"></a>00103 <span class="comment"> * \sa loadConfig</span>
<a name="l00104"></a>00104 <span class="comment"> */</span>
<a name="l00105"></a>00105 <span class="keywordtype">void</span> setSerialPortConfig(
<a name="l00106"></a>00106 <span class="keyword">const</span> std::string &portName,
<a name="l00107"></a>00107 <span class="keywordtype">int</span> portBaudRate );
<a name="l00108"></a>00108 <span class="comment"></span>
<a name="l00109"></a>00109 <span class="comment"> /** Returns the current value of the serial port */</span>
<a name="l00110"></a>00110 std::string getSerialPort()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_com_port; }
<a name="l00111"></a>00111 <span class="comment"></span>
<a name="l00112"></a>00112 <span class="comment"> /** Returns the current value of the serial port baudrate */</span>
<a name="l00113"></a>00113 <span class="keywordtype">int</span> getSerialPortBaudRate()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_robotBaud; }
<a name="l00114"></a>00114
<a name="l00115"></a>00115 <span class="comment"></span>
<a name="l00116"></a>00116 <span class="comment"> /** Collect odometry readings and put them in the "observations" queue: DO NOT call this normally, it's useful only for the application rawloggrabber.</span>
<a name="l00117"></a>00117 <span class="comment"> */</span>
<a name="l00118"></a>00118 <span class="keywordtype">void</span> doProcess();
<a name="l00119"></a>00119 <span class="comment"></span>
<a name="l00120"></a>00120 <span class="comment"> /** Change the current robot odometry pose</span>
<a name="l00121"></a>00121 <span class="comment"> */</span>
<a name="l00122"></a>00122 <span class="keywordtype">void</span> changeOdometry(<span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose2_d.html" title="A class used to store a 2D pose.">mrpt::poses::CPose2D</a> &newOdometry);
<a name="l00123"></a>00123 <span class="comment"></span>
<a name="l00124"></a>00124 <span class="comment"> /** Get the current robot's odometry</span>
<a name="l00125"></a>00125 <span class="comment"> * \param out_odom The odometry will be returned here.</span>
<a name="l00126"></a>00126 <span class="comment"> * \sa getOdometryFull, getOdometryIncrement</span>
<a name="l00127"></a>00127 <span class="comment"> */</span>
<a name="l00128"></a>00128 <span class="keywordtype">void</span> getOdometry(<a class="code" href="classmrpt_1_1poses_1_1_c_pose2_d.html" title="A class used to store a 2D pose.">poses::CPose2D</a> &out_odom);
<a name="l00129"></a>00129 <span class="comment"></span>
<a name="l00130"></a>00130 <span class="comment"> /** Get the current robot's odometry</span>
<a name="l00131"></a>00131 <span class="comment"> * \param out_odom The odometry will be returned here.</span>
<a name="l00132"></a>00132 <span class="comment"> * \param out_lin_vel The linear speed, in m/s, positive is forward.</span>
<a name="l00133"></a>00133 <span class="comment"> * \param out_ang_vel The angular speed, in rad/s, positive is anticlockwise.</span>
<a name="l00134"></a>00134 <span class="comment"> * \param out_left_encoder_ticks The current overall count of ticks for the left wheel encoder.</span>
<a name="l00135"></a>00135 <span class="comment"> * \param out_right_encoder_ticks The current overall count of ticks for the right wheel encoder.</span>
<a name="l00136"></a>00136 <span class="comment"> * \sa getOdometry, getOdometryIncrement</span>
<a name="l00137"></a>00137 <span class="comment"> */</span>
<a name="l00138"></a>00138 <span class="keywordtype">void</span> getOdometryFull(
<a name="l00139"></a>00139 <a class="code" href="classmrpt_1_1poses_1_1_c_pose2_d.html" title="A class used to store a 2D pose.">poses::CPose2D</a> &out_odom,
<a name="l00140"></a>00140 <span class="keywordtype">double</span> &out_lin_vel,
<a name="l00141"></a>00141 <span class="keywordtype">double</span> &out_ang_vel,
<a name="l00142"></a>00142 int64_t &out_left_encoder_ticks,
<a name="l00143"></a>00143 int64_t &out_right_encoder_ticks
<a name="l00144"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_activ_media_robot_base.html#a735a0aab4c2910c98a724abbf28a9bda">00144</a> );
<a name="l00145"></a>00145 <span class="comment"></span>
<a name="l00146"></a>00146 <span class="comment"> /** Get the robot's odometry increment since the last call to this method (the first time the increments are always fixed to zero).</span>
<a name="l00147"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_activ_media_robot_base.html#af71054440e57cdb3b0f04d5dcc4dfc92">00147</a> <span class="comment"> * \param out_odom The odometry increment.</span>
<a name="l00148"></a>00148 <span class="comment"> * \param out_lin_vel The current linear speed, in m/s, positive is forward (Absolute values, not increments)</span>
<a name="l00149"></a>00149 <span class="comment"> * \param out_ang_vel The angular speed, in rad/s, positive is anticlockwise (Absolute values, not increments).</span>
<a name="l00150"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_activ_media_robot_base.html#acb026dec816f34cfa885b6be2d370edd">00150</a> <span class="comment"> * \param out_left_encoder_ticks The increment in ticks for the left wheel encoder.</span>
<a name="l00151"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_activ_media_robot_base.html#abca15155fe7176aedaf278367af81e4c">00151</a> <span class="comment"> * \param out_right_encoder_ticks The increment in ticks for the right wheel encoder.</span>
<a name="l00152"></a>00152 <span class="comment"> * \sa getOdometry, getOdometryFull</span>
<a name="l00153"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_activ_media_robot_base.html#adf151afb9e0461cc1967eed3c4340f70">00153</a> <span class="comment"> */</span>
<a name="l00154"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_activ_media_robot_base.html#ac6c6b5249d27991c238c5c69fa8337da">00154</a> <span class="keywordtype">void</span> getOdometryIncrement(
<a name="l00155"></a>00155 <a class="code" href="classmrpt_1_1poses_1_1_c_pose2_d.html" title="A class used to store a 2D pose.">poses::CPose2D</a> &out_incr_odom,
<a name="l00156"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_activ_media_robot_base.html#a6464aec511d89ad703ec072ecf5e0c9a">00156</a> <span class="keywordtype">double</span> &out_lin_vel,
<a name="l00157"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_activ_media_robot_base.html#abb28af6b037d0f65c0f2a08187707448">00157</a> <span class="keywordtype">double</span> &out_ang_vel,
<a name="l00158"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_activ_media_robot_base.html#a9947c548116acd08ef95bbfac03298d8">00158</a> int64_t &out_incr_left_encoder_ticks,
<a name="l00159"></a>00159 int64_t &out_incr_right_encoder_ticks
<a name="l00160"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_activ_media_robot_base.html#ae83316aae98324cfea62d4a2af48b964">00160</a> );
<a name="l00161"></a>00161 <span class="comment"></span>
<a name="l00162"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_activ_media_robot_base.html#aa25f9791eb1e82059bedec25fb81aa00">00162</a> <span class="comment"> /** Get the readings from the sonars, only if the observations are new.</span>
<a name="l00163"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_activ_media_robot_base.html#a0b15eac7bbceeb67ca88e14b74c8ff73">00163</a> <span class="comment"> */</span>
<a name="l00164"></a>00164 <span class="keywordtype">void</span> getSonarsReadings( <span class="keywordtype">bool</span> &thereIsObservation, <a class="code" href="classmrpt_1_1slam_1_1_c_observation_range.html" title="Declares a class derived from &quot;CObservation&quot; that encapsules a single range...">mrpt::slam::CObservationRange</a> &obs );
<a name="l00165"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_activ_media_robot_base.html#a44ea0e8a98d5820034bd22996fa65d0e">00165</a> <span class="comment"></span>
<a name="l00166"></a>00166 <span class="comment"> /** Get the robot battery charge */</span>
<a name="l00167"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_activ_media_robot_base.html#aad4e5555e7188fcdef33d60db294f138">00167</a> <span class="keywordtype">void</span> getBatteryCharge( <span class="keywordtype">double</span> &out_batery_volts );
<a name="l00168"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_activ_media_robot_base.html#a88aa6698022863c91537b228aadb7206">00168</a> <span class="comment"></span>
<a name="l00169"></a>00169 <span class="comment"> /** Set the robot linear and angular velocities</span>
<a name="l00170"></a>00170 <span class="comment"> * \param lin_vel Linear speed, in m/s.</span>
<a name="l00171"></a>00171 <span class="comment"> * \param ang_vel Angular speed, in rad/s.</span>
<a name="l00172"></a>00172 <span class="comment"> */</span>
<a name="l00173"></a>00173 <span class="keywordtype">void</span> setVelocities( <span class="keyword">const</span> <span class="keywordtype">double</span> lin_vel, <span class="keyword">const</span> <span class="keywordtype">double</span> ang_vel);
<a name="l00174"></a>00174
<a name="l00175"></a>00175 <span class="keywordtype">void</span> enableSonars(); <span class="comment">//!< Enable sonars</span>
<a name="l00176"></a>00176 <span class="comment"></span> <span class="keywordtype">void</span> disableSonars(); <span class="comment">//!< Disable sonars</span>
<a name="l00177"></a>00177 <span class="comment"></span>
<a name="l00178"></a>00178
<a name="l00179"></a>00179 <span class="keywordtype">void</span> getBumpers(<a class="code" href="namespacemrpt.html#a9fdb3cc3f73c5190fa022f858efbe6b1" title="A type for passing a vector of bools.">vector_bool</a> &bumper_state); <span class="comment">//!< Get state of bumpers: at output, the vector will be resized to the number of bumpers, and elements with "true" means bumper is pressed.</span>
<a name="l00180"></a>00180 <span class="comment"></span>
<a name="l00181"></a>00181 <span class="keywordtype">void</span> getRobotInformation(<a class="code" href="structmrpt_1_1hwdrivers_1_1_c_activ_media_robot_base_1_1_t_robot_description.html" title="A structure describing the robot.">TRobotDescription</a> &info); <span class="comment">//!< Get information about the robot and its sensors</span>
<a name="l00182"></a>00182 <span class="comment"></span><span class="comment"></span>
<a name="l00183"></a>00183 <span class="comment"> /** Enable/disable manual control of the robot with a Joystick */</span>
<a name="l00184"></a>00184 <span class="keywordtype">void</span> enableJoystickControl(<span class="keywordtype">bool</span> enable=<span class="keyword">true</span>) { m_enableJoyControl = enable; }
<a name="l00185"></a>00185 <span class="comment"></span>
<a name="l00186"></a>00186 <span class="comment"> /** Get state of manual control with a joystick */</span>
<a name="l00187"></a>00187 <span class="keywordtype">bool</span> isJoystickControlEnabled()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_enableJoyControl;}
<a name="l00188"></a>00188
<a name="l00189"></a>00189 <span class="keyword">protected</span>:
<a name="l00190"></a>00190 std::string m_com_port; <span class="comment">//!< The serial port name to use for communications (COM1, ttyS1,...)</span>
<a name="l00191"></a>00191 <span class="comment"></span> <span class="keywordtype">int</span> m_robotBaud; <span class="comment">//!< The bauds for ARIA communications to the robot.</span>
<a name="l00192"></a>00192 <span class="comment"></span>
<a name="l00193"></a>00193 <span class="keywordtype">bool</span> m_firstIncreOdometry; <span class="comment">//!< Used in getOdometryIncrement</span>
<a name="l00194"></a>00194 <span class="comment"></span> <span class="keywordtype">bool</span> m_enableSonars;
<a name="l00195"></a>00195
<a name="l00196"></a>00196 <span class="keywordtype">void</span>* <span class="comment">/*ArRobot*/</span> m_robot;
<a name="l00197"></a>00197 <span class="keywordtype">void</span>* <span class="comment">/*ArSonarDevice*/</span> m_sonarDev;
<a name="l00198"></a>00198 <span class="keywordtype">void</span>* <span class="comment">/*ArSimpleConnector* */</span> m_simpleConnector; <span class="comment">//!< The connection to the robot</span>
<a name="l00199"></a>00199 <span class="comment"></span>
<a name="l00200"></a>00200 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> m_lastTimeSonars;
<a name="l00201"></a>00201
<a name="l00202"></a>00202 <span class="keywordtype">bool</span> m_enableJoyControl; <span class="comment">//!< For use with rawlog-grabber</span>
<a name="l00203"></a>00203 <span class="comment"></span> <span class="keywordtype">float</span> m_joy_max_v, m_joy_max_w;
<a name="l00204"></a>00204
<a name="l00205"></a>00205 CJoystick m_joystick; <span class="comment">//!< The joystick opened at first usage.</span>
<a name="l00206"></a>00206 <span class="comment"></span>
<a name="l00207"></a>00207 <a class="code" href="namespacemrpt_1_1system.html#a42674286d8d56afea013b6329bb7327a" title="A system independent time type, it holds the the number of 100-nanosecond intervals...">mrpt::system::TTimeStamp</a> m_last_do_process;
<a name="l00208"></a>00208 <span class="keywordtype">double</span> m_capture_rate; <span class="comment">//!< In Hz, the rate at which sonars & odometry are gathered (default=10Hz)</span>
<a name="l00209"></a>00209 <span class="comment"></span>
<a name="l00210"></a>00210
<a name="l00211"></a>00211 <span class="keywordtype">void</span> disconnectAndDisableMotors();
<a name="l00212"></a>00212 <span class="keywordtype">void</span> connectAndEnableMotors();
<a name="l00213"></a>00213 <span class="comment"></span>
<a name="l00214"></a>00214 <span class="comment"> /** 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)</span>
<a name="l00215"></a>00215 <span class="comment"> * See hwdrivers::CActivMediaRobotBase for the possible parameters</span>
<a name="l00216"></a>00216 <span class="comment"> * \sa setSerialPortConfig</span>
<a name="l00217"></a>00217 <span class="comment"> */</span>
<a name="l00218"></a>00218 <span class="keywordtype">void</span> loadConfig_sensorSpecific(
<a name="l00219"></a>00219 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1utils_1_1_c_config_file_base.html" title="This class allows loading and storing values and vectors of different types from...">mrpt::utils::CConfigFileBase</a> &configSource,
<a name="l00220"></a>00220 <span class="keyword">const</span> std::string &iniSection );
<a name="l00221"></a>00221
<a name="l00222"></a>00222
<a name="l00223"></a>00223 }; <span class="comment">// End of class</span>
<a name="l00224"></a>00224
<a name="l00225"></a>00225 } <span class="comment">// End of namespace</span>
<a name="l00226"></a>00226 } <span class="comment">// End of namespace</span>
<a name="l00227"></a>00227 <span class="preprocessor">#endif</span>
</pre></div></div>
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