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<div class="navpath"><a class="el" href="namespacemrpt.html">mrpt</a>::<a class="el" href="namespacemrpt_1_1hwdrivers.html">hwdrivers</a>::<a class="el" href="classmrpt_1_1hwdrivers_1_1_c_i_m_u_x_sens.html">CIMUXSens</a>
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<h1>mrpt::hwdrivers::CIMUXSens Class Reference</h1><!-- doxytag: class="mrpt::hwdrivers::CIMUXSens" --><!-- doxytag: inherits="mrpt::hwdrivers::CGenericSensor" -->
<p>A class for interfacing Inertial Measuring Units (IMUs) of the type "XSens MTi" It uses a serial port connection to the device.
<a href="#_details">More...</a></p>
<p><code>#include <<a class="el" href="_c_i_m_u_x_sens_8h_source.html">mrpt/hwdrivers/CIMUXSens.h</a>></code></p>
<div class="dynheader">
Inheritance diagram for mrpt::hwdrivers::CIMUXSens:</div>
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Collaboration diagram for mrpt::hwdrivers::CIMUXSens:</div>
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<p><a href="classmrpt_1_1hwdrivers_1_1_c_i_m_u_x_sens-members.html">List of all members.</a></p>
<table border="0" cellpadding="0" cellspacing="0">
<tr><td colspan="2"><h2>Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_i_m_u_x_sens.html#a2c6d05e01d443cb40639200917ac1ed1">CIMUXSens</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Constructor. <a href="#a2c6d05e01d443cb40639200917ac1ed1"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_i_m_u_x_sens.html#a5016dd7544b2522b0f20b12777738359">~CIMUXSens</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Destructor. <a href="#a5016dd7544b2522b0f20b12777738359"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_i_m_u_x_sens.html#a633b34ee5e6acbf5cd63e4a144722d8e">doProcess</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">This method will be invoked at a minimum rate of "process_rate" (Hz) </p>
<dl><dt><b>Exceptions:</b></dt><dd>
<table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"></td><td valign="top"><em>This</em> </td><td>method must throw an exception with a descriptive message if some critical error is found. </td></tr>
</table>
</dd>
</dl>
<a href="#a633b34ee5e6acbf5cd63e4a144722d8e"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_i_m_u_x_sens.html#abb9c183575154bdf75587703f18990d6">initialize</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Turns on the xSens device and configure it for getting orientation data. <a href="#abb9c183575154bdf75587703f18990d6"></a><br/></td></tr>
<tr><td colspan="2"><h2>Protected Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_i_m_u_x_sens.html#ab2747cd704f4d6839caecc4b5eb6701c">searchPortAndConnect</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Search the port where the sensor is located and connect to it. <a href="#ab2747cd704f4d6839caecc4b5eb6701c"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_i_m_u_x_sens.html#ae7a836473bb4931233aa18181bc1bbc2">loadConfig_sensorSpecific</a> (const <a class="el" href="classmrpt_1_1utils_1_1_c_config_file_base.html">mrpt::utils::CConfigFileBase</a> &configSource, const std::string &iniSection)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Loads specific configuration for the device from a given source of configuration parameters, for example, an ".ini" file, loading from the section "[iniSection]" (see <a class="el" 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...">utils::CConfigFileBase</a> and derived classes) See <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_i_m_u_x_sens.html" title="A class for interfacing Inertial Measuring Units (IMUs) of the type "XSens MTi"...">hwdrivers::CIMUXSens</a> for the possible parameters. <a href="#ae7a836473bb4931233aa18181bc1bbc2"></a><br/></td></tr>
<tr><td colspan="2"><h2>Protected Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">std::string </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_i_m_u_x_sens.html#a874500b142640ad4eb10b23a391b4900">m_sensorLabel</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">This serial port will be attempted to be opened automatically when this class is first used to request data from the device. <a href="#a874500b142640ad4eb10b23a391b4900"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_i_m_u_x_sens.html#ab611cff8c5a20275512eb12ed7b6a78b">m_COMbauds</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">std::string </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_i_m_u_x_sens.html#ad3579f38391444dc861544b82f284e6e">m_com_port</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">uint64_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_i_m_u_x_sens.html#aeba9696a55c3ecc9018b9b7b40fc9376">m_timeStartUI</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="namespacemrpt_1_1system.html#a42674286d8d56afea013b6329bb7327a">mrpt::system::TTimeStamp</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_i_m_u_x_sens.html#a5fdd574f3bc022f747d36224fee0f12e">m_timeStartTT</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">mrpt::poses::CPose3D</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_i_m_u_x_sens.html#a93ad94734769142ed2935d56f87a1c05">m_sensorPose</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_i_m_u_x_sens.html#accbe4fe3c962122ce9189057c4b87336">m_cmt3_ptr</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_i_m_u_x_sens.html#a290e0e015a7657c4e5d5b496c7c26f31">m_deviceId_ptr</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">unsigned int </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_i_m_u_x_sens.html#afefbaeb1247d39850678cf6dec994b68">m_toutCounter</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Timeout counter (for internal use only). <a href="#afefbaeb1247d39850678cf6dec994b68"></a><br/></td></tr>
</table>
<hr/><a name="_details"></a><h2>Detailed Description</h2>
<p>A class for interfacing Inertial Measuring Units (IMUs) of the type "XSens MTi" It uses a serial port connection to the device. </p>
<p>The class implements the generic See also the application "rawlog-grabber" for a ready-to-use application to gather data from the scanner.</p>
<div class="fragment"><pre class="fragment"> PARAMETERS IN THE <span class="stringliteral">".INI"</span>-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)
</pre></div>
<p>Definition at line <a class="el" href="_c_i_m_u_x_sens_8h_source.html#l00064">64</a> of file <a class="el" href="_c_i_m_u_x_sens_8h_source.html">CIMUXSens.h</a>.</p>
<hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="a2c6d05e01d443cb40639200917ac1ed1"></a><!-- doxytag: member="mrpt::hwdrivers::CIMUXSens::CIMUXSens" ref="a2c6d05e01d443cb40639200917ac1ed1" args="()" -->
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<td class="memname">mrpt::hwdrivers::CIMUXSens::CIMUXSens </td>
<td>(</td>
<td class="paramname"></td>
<td> ) </td>
<td></td>
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<div class="memdoc">
<p>Constructor. </p>
</div>
</div>
<a class="anchor" id="a5016dd7544b2522b0f20b12777738359"></a><!-- doxytag: member="mrpt::hwdrivers::CIMUXSens::~CIMUXSens" ref="a5016dd7544b2522b0f20b12777738359" args="()" -->
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<td class="memname">virtual mrpt::hwdrivers::CIMUXSens::~CIMUXSens </td>
<td>(</td>
<td class="paramname"></td>
<td> ) </td>
<td><code> [virtual]</code></td>
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</div>
<div class="memdoc">
<p>Destructor. </p>
</div>
</div>
<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="a633b34ee5e6acbf5cd63e4a144722d8e"></a><!-- doxytag: member="mrpt::hwdrivers::CIMUXSens::doProcess" ref="a633b34ee5e6acbf5cd63e4a144722d8e" args="()" -->
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<td class="memname">void mrpt::hwdrivers::CIMUXSens::doProcess </td>
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<td><code> [virtual]</code></td>
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<p>This method will be invoked at a minimum rate of "process_rate" (Hz) </p>
<dl><dt><b>Exceptions:</b></dt><dd>
<table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"></td><td valign="top"><em>This</em> </td><td>method must throw an exception with a descriptive message if some critical error is found. </td></tr>
</table>
</dd>
</dl>
</p>
<p>Implements <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a4f02ae5d7a345819f2521f72b633ab51">mrpt::hwdrivers::CGenericSensor</a>.</p>
</div>
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<a class="anchor" id="abb9c183575154bdf75587703f18990d6"></a><!-- doxytag: member="mrpt::hwdrivers::CIMUXSens::initialize" ref="abb9c183575154bdf75587703f18990d6" args="()" -->
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<td class="memname">void mrpt::hwdrivers::CIMUXSens::initialize </td>
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<td><code> [virtual]</code></td>
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<p>Turns on the xSens device and configure it for getting orientation data. </p>
<p>Reimplemented from <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a775782a8fef4c5cd11265024431ed8c3">mrpt::hwdrivers::CGenericSensor</a>.</p>
</div>
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<a class="anchor" id="ae7a836473bb4931233aa18181bc1bbc2"></a><!-- doxytag: member="mrpt::hwdrivers::CIMUXSens::loadConfig_sensorSpecific" ref="ae7a836473bb4931233aa18181bc1bbc2" args="(const mrpt::utils::CConfigFileBase &configSource, const std::string &iniSection)" -->
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<td class="memname">void mrpt::hwdrivers::CIMUXSens::loadConfig_sensorSpecific </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1utils_1_1_c_config_file_base.html">mrpt::utils::CConfigFileBase</a> & </td>
<td class="paramname"> <em>configSource</em>, </td>
</tr>
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<td class="paramkey"></td>
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<td class="paramtype">const std::string & </td>
<td class="paramname"> <em>iniSection</em></td><td> </td>
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<td></td>
<td>)</td>
<td></td><td></td><td><code> [protected, virtual]</code></td>
</tr>
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<div class="memdoc">
<p>Loads specific configuration for the device from a given source of configuration parameters, for example, an ".ini" file, loading from the section "[iniSection]" (see <a class="el" 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...">utils::CConfigFileBase</a> and derived classes) See <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_i_m_u_x_sens.html" title="A class for interfacing Inertial Measuring Units (IMUs) of the type "XSens MTi"...">hwdrivers::CIMUXSens</a> for the possible parameters. </p>
<p>Implements <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#ac867f9cb46c72b4386a5488f171f178f">mrpt::hwdrivers::CGenericSensor</a>.</p>
</div>
</div>
<a class="anchor" id="ab2747cd704f4d6839caecc4b5eb6701c"></a><!-- doxytag: member="mrpt::hwdrivers::CIMUXSens::searchPortAndConnect" ref="ab2747cd704f4d6839caecc4b5eb6701c" args="()" -->
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<td class="memname">bool mrpt::hwdrivers::CIMUXSens::searchPortAndConnect </td>
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<p>Search the port where the sensor is located and connect to it. </p>
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<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="accbe4fe3c962122ce9189057c4b87336"></a><!-- doxytag: member="mrpt::hwdrivers::CIMUXSens::m_cmt3_ptr" ref="accbe4fe3c962122ce9189057c4b87336" args="" -->
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<td class="memname">void* <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_i_m_u_x_sens.html#accbe4fe3c962122ce9189057c4b87336">mrpt::hwdrivers::CIMUXSens::m_cmt3_ptr</a><code> [protected]</code></td>
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<p>Definition at line <a class="el" href="_c_i_m_u_x_sens_8h_source.html#l00086">86</a> of file <a class="el" href="_c_i_m_u_x_sens_8h_source.html">CIMUXSens.h</a>.</p>
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<a class="anchor" id="ad3579f38391444dc861544b82f284e6e"></a><!-- doxytag: member="mrpt::hwdrivers::CIMUXSens::m_com_port" ref="ad3579f38391444dc861544b82f284e6e" args="" -->
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<td class="memname">std::string <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_i_m_u_x_sens.html#ad3579f38391444dc861544b82f284e6e">mrpt::hwdrivers::CIMUXSens::m_com_port</a><code> [protected]</code></td>
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<p>Definition at line <a class="el" href="_c_i_m_u_x_sens_8h_source.html#l00074">74</a> of file <a class="el" href="_c_i_m_u_x_sens_8h_source.html">CIMUXSens.h</a>.</p>
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<a class="anchor" id="ab611cff8c5a20275512eb12ed7b6a78b"></a><!-- doxytag: member="mrpt::hwdrivers::CIMUXSens::m_COMbauds" ref="ab611cff8c5a20275512eb12ed7b6a78b" args="" -->
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<td class="memname">int <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_i_m_u_x_sens.html#ab611cff8c5a20275512eb12ed7b6a78b">mrpt::hwdrivers::CIMUXSens::m_COMbauds</a><code> [protected]</code></td>
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<p>Definition at line <a class="el" href="_c_i_m_u_x_sens_8h_source.html#l00073">73</a> of file <a class="el" href="_c_i_m_u_x_sens_8h_source.html">CIMUXSens.h</a>.</p>
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<a class="anchor" id="a290e0e015a7657c4e5d5b496c7c26f31"></a><!-- doxytag: member="mrpt::hwdrivers::CIMUXSens::m_deviceId_ptr" ref="a290e0e015a7657c4e5d5b496c7c26f31" args="" -->
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<td class="memname">void* <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_i_m_u_x_sens.html#a290e0e015a7657c4e5d5b496c7c26f31">mrpt::hwdrivers::CIMUXSens::m_deviceId_ptr</a><code> [protected]</code></td>
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<p>Definition at line <a class="el" href="_c_i_m_u_x_sens_8h_source.html#l00087">87</a> of file <a class="el" href="_c_i_m_u_x_sens_8h_source.html">CIMUXSens.h</a>.</p>
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<a class="anchor" id="a874500b142640ad4eb10b23a391b4900"></a><!-- doxytag: member="mrpt::hwdrivers::CIMUXSens::m_sensorLabel" ref="a874500b142640ad4eb10b23a391b4900" args="" -->
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<td class="memname">std::string <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_i_m_u_x_sens.html#a874500b142640ad4eb10b23a391b4900">mrpt::hwdrivers::CIMUXSens::m_sensorLabel</a><code> [protected]</code></td>
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<p>This serial port will be attempted to be opened automatically when this class is first used to request data from the device. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_serial_port.html" title="A communications serial port built as an implementation of a utils::CStream.">hwdrivers::CSerialPort</a> </dd></dl>
<p>Definition at line <a class="el" href="_c_i_m_u_x_sens_8h_source.html#l00072">72</a> of file <a class="el" href="_c_i_m_u_x_sens_8h_source.html">CIMUXSens.h</a>.</p>
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<a class="anchor" id="a93ad94734769142ed2935d56f87a1c05"></a><!-- doxytag: member="mrpt::hwdrivers::CIMUXSens::m_sensorPose" ref="a93ad94734769142ed2935d56f87a1c05" args="" -->
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<td class="memname"><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">mrpt::poses::CPose3D</a> <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_i_m_u_x_sens.html#a93ad94734769142ed2935d56f87a1c05">mrpt::hwdrivers::CIMUXSens::m_sensorPose</a><code> [protected]</code></td>
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<p>Definition at line <a class="el" href="_c_i_m_u_x_sens_8h_source.html#l00078">78</a> of file <a class="el" href="_c_i_m_u_x_sens_8h_source.html">CIMUXSens.h</a>.</p>
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<a class="anchor" id="a5fdd574f3bc022f747d36224fee0f12e"></a><!-- doxytag: member="mrpt::hwdrivers::CIMUXSens::m_timeStartTT" ref="a5fdd574f3bc022f747d36224fee0f12e" args="" -->
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<td class="memname"><a class="el" href="namespacemrpt_1_1system.html#a42674286d8d56afea013b6329bb7327a">mrpt::system::TTimeStamp</a> <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_i_m_u_x_sens.html#a5fdd574f3bc022f747d36224fee0f12e">mrpt::hwdrivers::CIMUXSens::m_timeStartTT</a><code> [protected]</code></td>
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<p>Definition at line <a class="el" href="_c_i_m_u_x_sens_8h_source.html#l00076">76</a> of file <a class="el" href="_c_i_m_u_x_sens_8h_source.html">CIMUXSens.h</a>.</p>
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<a class="anchor" id="aeba9696a55c3ecc9018b9b7b40fc9376"></a><!-- doxytag: member="mrpt::hwdrivers::CIMUXSens::m_timeStartUI" ref="aeba9696a55c3ecc9018b9b7b40fc9376" args="" -->
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<td class="memname">uint64_t <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_i_m_u_x_sens.html#aeba9696a55c3ecc9018b9b7b40fc9376">mrpt::hwdrivers::CIMUXSens::m_timeStartUI</a><code> [protected]</code></td>
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<p>Definition at line <a class="el" href="_c_i_m_u_x_sens_8h_source.html#l00075">75</a> of file <a class="el" href="_c_i_m_u_x_sens_8h_source.html">CIMUXSens.h</a>.</p>
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<a class="anchor" id="afefbaeb1247d39850678cf6dec994b68"></a><!-- doxytag: member="mrpt::hwdrivers::CIMUXSens::m_toutCounter" ref="afefbaeb1247d39850678cf6dec994b68" args="" -->
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<td class="memname">unsigned int <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_i_m_u_x_sens.html#afefbaeb1247d39850678cf6dec994b68">mrpt::hwdrivers::CIMUXSens::m_toutCounter</a><code> [protected]</code></td>
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<p>Timeout counter (for internal use only). </p>
<p>Definition at line <a class="el" href="_c_i_m_u_x_sens_8h_source.html#l00088">88</a> of file <a class="el" href="_c_i_m_u_x_sens_8h_source.html">CIMUXSens.h</a>.</p>
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