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<a href="#pub-methods">Public Member Functions</a> |
<a href="#pro-methods">Protected Member Functions</a> |
<a href="#pri-methods">Private Member Functions</a> |
<a href="#pri-attribs">Private Attributes</a> </div>
<div class="headertitle">
<h1>mrpt::hwdrivers::CRoboticHeadInterface Class Reference</h1> </div>
</div>
<div class="contents">
<!-- doxytag: class="mrpt::hwdrivers::CRoboticHeadInterface" --><!-- doxytag: inherits="mrpt::utils::CDebugOutputCapable" --><hr/><a name="_details"></a><h2>Detailed Description</h2>
<p>This "software driver" implements the communication protocol for interfacing a Robotic Head Board through a custom USB RS-422 interface board. </p>
<p>In this class the "bind" is ignored since it is designed for USB connections only, thus it internally generate the required object for simplicity of use. The default serial number is "OREJA001"</p>
<p>Warning: Avoid defining an object of this class in a global scope if you want to catch all potential exceptions during the constructors (like USB interface DLL not found, etc...)</p>
<div class="fragment"><pre class="fragment"> PARAMETERS IN THE <span class="stringliteral">".INI"</span>-LIKE CONFIGURATION STRINGS:
-------------------------------------------------------
[supplied_section_name]
HEAD_serialNumber=OREJA001
HEAD_gain=127,127,127
HEAD_yaw=0 <span class="comment">//orientación inicial</span>
HEAD_pitch=0 <span class="comment">//elevación inicial</span>
</pre></div>
<p>Definition at line <a class="el" href="_c_robotic_head_interface_8h_source.html#l00067">67</a> of file <a class="el" href="_c_robotic_head_interface_8h_source.html">CRoboticHeadInterface.h</a>.</p>
<p><code>#include <<a class="el" href="_c_robotic_head_interface_8h_source.html">mrpt/hwdrivers/CRoboticHeadInterface.h</a>></code></p>
<!-- startSectionHeader --><div class="dynheader">
Inheritance diagram for mrpt::hwdrivers::CRoboticHeadInterface:<!-- endSectionHeader --></div>
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<div class="center"><img src="classmrpt_1_1hwdrivers_1_1_c_robotic_head_interface__inherit__graph.png" border="0" usemap="#mrpt_1_1hwdrivers_1_1_c_robotic_head_interface_inherit__map" alt="Inheritance graph"/></div>
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<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center><!-- endSectionContent --></div>
<p><a href="classmrpt_1_1hwdrivers_1_1_c_robotic_head_interface-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="pub-methods"></a>
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_robotic_head_interface.html#af60fa5cc055d83c6341359d38555ba29">CRoboticHeadInterface</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Constructor. <a href="#af60fa5cc055d83c6341359d38555ba29"></a><br/></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_robotic_head_interface.html#aaf98ec91a98c09a1d290d2e2177151e4">~CRoboticHeadInterface</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Destructor. <a href="#aaf98ec91a98c09a1d290d2e2177151e4"></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_robotic_head_interface.html#a572a024184a845bfb0ebe9545c433046">setDeviceSerialNumber</a> (const std::string &deviceSerialNumber)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Changes the serial number of the device to open. <a href="#a572a024184a845bfb0ebe9545c433046"></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_robotic_head_interface.html#a039949d10ff9f656748a0f714dbfbdce">GetGain</a> (int &_gain, int &channel)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Read the gain for the amplifier of the ear "channel", where channel is 0, 1 or 2. <a href="#a039949d10ff9f656748a0f714dbfbdce"></a><br/></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_robotic_head_interface.html#a1473919e131de5a36600ab20fc0dc99d">SetGain</a> (int &new_gain, int &channel)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set the gain for the amplifier each ear. <a href="#a1473919e131de5a36600ab20fc0dc99d"></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_robotic_head_interface.html#a365ab2e0918a0dfb33b895fdb828b0c7">GetSoundLocation</a> (int &ang)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">This function return the angle where last sound where detected. <a href="#a365ab2e0918a0dfb33b895fdb828b0c7"></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_robotic_head_interface.html#a815034bd0ca78f41e3d9db0db578422c">Get3SoundBuffer</a> (<a class="el" href="classmrpt_1_1math_1_1_c_matrix_template.html">CMatrixTemplate</a>< int > &buf)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Debug only!!! This function return the last 500 acquired samples for each sound channel. <a href="#a815034bd0ca78f41e3d9db0db578422c"></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_robotic_head_interface.html#a346e3d4a1ab8d84c678c416798c09fb6">SetHeadPose</a> (int &yaw, int &pitch)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Move the head in: <a href="#a346e3d4a1ab8d84c678c416798c09fb6"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pro-methods"></a>
Protected Member Functions</h2></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_robotic_head_interface.html#ad69b09dc749afa8dde0db1bfea25257a">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 a configuration text...">utils::CConfigFileBase</a> and derived classes) See hwdrivers::CSonarSRF10 for the possible parameters. <a href="#ad69b09dc749afa8dde0db1bfea25257a"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pri-methods"></a>
Private 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_robotic_head_interface.html#a941a01f22f643eef156d6696f057df96">checkControllerIsConnected</a> ()</td></tr>
<tr><td colspan="2"><h2><a name="pri-attribs"></a>
Private Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_interface_f_t_d_i.html">CInterfaceFTDIMessages</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_robotic_head_interface.html#aec276b26dd799e311344b4fe03d034e1">m_usbConnection</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1utils_1_1_c_message.html">utils::CMessage</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_robotic_head_interface.html#ab46d238f810f8eebd51489aa332b0e69">msg</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_robotic_head_interface.html#a9dc71a758c48cd53acf846243320de1c">m_serialNumber</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">std::vector< int32_t > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_robotic_head_interface.html#a99d940437c6cb9d1dbd67b1f38e8cef7">gain</a></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_robotic_head_interface.html#a0b36875a86c37e987f61408298848100">head_yaw</a></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_robotic_head_interface.html#a411770f9d6a2476a1683172139c38645">head_pitch</a></td></tr>
</table>
<hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="af60fa5cc055d83c6341359d38555ba29"></a><!-- doxytag: member="mrpt::hwdrivers::CRoboticHeadInterface::CRoboticHeadInterface" ref="af60fa5cc055d83c6341359d38555ba29" args="()" -->
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<td class="memname">mrpt::hwdrivers::CRoboticHeadInterface::CRoboticHeadInterface </td>
<td>(</td>
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<p>Constructor. </p>
</div>
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<a class="anchor" id="aaf98ec91a98c09a1d290d2e2177151e4"></a><!-- doxytag: member="mrpt::hwdrivers::CRoboticHeadInterface::~CRoboticHeadInterface" ref="aaf98ec91a98c09a1d290d2e2177151e4" args="()" -->
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<td class="memname">mrpt::hwdrivers::CRoboticHeadInterface::~CRoboticHeadInterface </td>
<td>(</td>
<td class="paramname"> )</td>
<td><code> [inline]</code></td>
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<p>Destructor. </p>
<p>Definition at line <a class="el" href="_c_robotic_head_interface_8h_source.html#l00093">93</a> of file <a class="el" href="_c_robotic_head_interface_8h_source.html">CRoboticHeadInterface.h</a>.</p>
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<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="a941a01f22f643eef156d6696f057df96"></a><!-- doxytag: member="mrpt::hwdrivers::CRoboticHeadInterface::checkControllerIsConnected" ref="a941a01f22f643eef156d6696f057df96" args="()" -->
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<td class="memname">bool mrpt::hwdrivers::CRoboticHeadInterface::checkControllerIsConnected </td>
<td>(</td>
<td class="paramname"> )</td>
<td><code> [private]</code></td>
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<a class="anchor" id="a815034bd0ca78f41e3d9db0db578422c"></a><!-- doxytag: member="mrpt::hwdrivers::CRoboticHeadInterface::Get3SoundBuffer" ref="a815034bd0ca78f41e3d9db0db578422c" args="(CMatrixTemplate< int > &buf)" -->
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<td class="memname">void mrpt::hwdrivers::CRoboticHeadInterface::Get3SoundBuffer </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1math_1_1_c_matrix_template.html">CMatrixTemplate</a>< int > & </td>
<td class="paramname"> <em>buf</em> )</td>
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<p>Debug only!!! This function return the last 500 acquired samples for each sound channel. </p>
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<a class="anchor" id="a039949d10ff9f656748a0f714dbfbdce"></a><!-- doxytag: member="mrpt::hwdrivers::CRoboticHeadInterface::GetGain" ref="a039949d10ff9f656748a0f714dbfbdce" args="(int &_gain, int &channel)" -->
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<td class="memname">void mrpt::hwdrivers::CRoboticHeadInterface::GetGain </td>
<td>(</td>
<td class="paramtype">int & </td>
<td class="paramname"> <em>_gain</em>, </td>
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<td class="paramkey"></td>
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<td class="paramtype">int & </td>
<td class="paramname"> <em>channel</em> </td>
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<p>Read the gain for the amplifier of the ear "channel", where channel is 0, 1 or 2. </p>
</div>
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<a class="anchor" id="a365ab2e0918a0dfb33b895fdb828b0c7"></a><!-- doxytag: member="mrpt::hwdrivers::CRoboticHeadInterface::GetSoundLocation" ref="a365ab2e0918a0dfb33b895fdb828b0c7" args="(int &ang)" -->
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<td class="memname">void mrpt::hwdrivers::CRoboticHeadInterface::GetSoundLocation </td>
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<td class="paramtype">int & </td>
<td class="paramname"> <em>ang</em> )</td>
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<p>This function return the angle where last sound where detected. </p>
<p>This angle is related to the robot pose, NOT head pose. </p>
<div class="fragment"><pre class="fragment"> angle > 0deg --> Sound detected in the left
angle = 0deg --> Sound detected in front of the head
angle < 0deg --> Sound detected in the right
</pre></div>
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<a class="anchor" id="ad69b09dc749afa8dde0db1bfea25257a"></a><!-- doxytag: member="mrpt::hwdrivers::CRoboticHeadInterface::loadConfig_sensorSpecific" ref="ad69b09dc749afa8dde0db1bfea25257a" args="(const mrpt::utils::CConfigFileBase *configSource, const std::string &iniSection)" -->
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<td class="memname">void mrpt::hwdrivers::CRoboticHeadInterface::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>
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<td class="paramtype">const std::string & </td>
<td class="paramname"> <em>iniSection</em> </td>
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<td></td><td><code> [protected]</code></td>
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<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 a configuration text...">utils::CConfigFileBase</a> and derived classes) See hwdrivers::CSonarSRF10 for the possible parameters. </p>
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<a class="anchor" id="a572a024184a845bfb0ebe9545c433046"></a><!-- doxytag: member="mrpt::hwdrivers::CRoboticHeadInterface::setDeviceSerialNumber" ref="a572a024184a845bfb0ebe9545c433046" args="(const std::string &deviceSerialNumber)" -->
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<td class="memname">void mrpt::hwdrivers::CRoboticHeadInterface::setDeviceSerialNumber </td>
<td>(</td>
<td class="paramtype">const std::string & </td>
<td class="paramname"> <em>deviceSerialNumber</em> )</td>
<td><code> [inline]</code></td>
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<p>Changes the serial number of the device to open. </p>
<p>Definition at line <a class="el" href="_c_robotic_head_interface_8h_source.html#l00097">97</a> of file <a class="el" href="_c_robotic_head_interface_8h_source.html">CRoboticHeadInterface.h</a>.</p>
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<a class="anchor" id="a1473919e131de5a36600ab20fc0dc99d"></a><!-- doxytag: member="mrpt::hwdrivers::CRoboticHeadInterface::SetGain" ref="a1473919e131de5a36600ab20fc0dc99d" args="(int &new_gain, int &channel)" -->
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<td class="paramtype">int & </td>
<td class="paramname"> <em>new_gain</em>, </td>
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<p>Set the gain for the amplifier each ear. </p>
<p>The value range is [0x00(min) .. 0x7F(max)]. The value 0x80 set the resistor in high impedance state, ¡¡¡DON'T USE IT!!! </p>
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<a class="anchor" id="a346e3d4a1ab8d84c678c416798c09fb6"></a><!-- doxytag: member="mrpt::hwdrivers::CRoboticHeadInterface::SetHeadPose" ref="a346e3d4a1ab8d84c678c416798c09fb6" args="(int &yaw, int &pitch)" -->
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<td class="memname">void mrpt::hwdrivers::CRoboticHeadInterface::SetHeadPose </td>
<td>(</td>
<td class="paramtype">int & </td>
<td class="paramname"> <em>yaw</em>, </td>
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<td class="paramtype">int & </td>
<td class="paramname"> <em>pitch</em> </td>
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<td>)</td>
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<p>Move the head in: </p>
<div class="fragment"><pre class="fragment"> elevation = <span class="stringliteral">'yaw'</span> degrees
orientation = <span class="stringliteral">'pitch'</span> degrees
</pre></div>
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<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="a99d940437c6cb9d1dbd67b1f38e8cef7"></a><!-- doxytag: member="mrpt::hwdrivers::CRoboticHeadInterface::gain" ref="a99d940437c6cb9d1dbd67b1f38e8cef7" args="" -->
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<td class="memname">std::vector<int32_t> <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_robotic_head_interface.html#a99d940437c6cb9d1dbd67b1f38e8cef7">mrpt::hwdrivers::CRoboticHeadInterface::gain</a><code> [private]</code></td>
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<p>Definition at line <a class="el" href="_c_robotic_head_interface_8h_source.html#l00073">73</a> of file <a class="el" href="_c_robotic_head_interface_8h_source.html">CRoboticHeadInterface.h</a>.</p>
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<a class="anchor" id="a411770f9d6a2476a1683172139c38645"></a><!-- doxytag: member="mrpt::hwdrivers::CRoboticHeadInterface::head_pitch" ref="a411770f9d6a2476a1683172139c38645" args="" -->
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<td class="memname">int <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_robotic_head_interface.html#a411770f9d6a2476a1683172139c38645">mrpt::hwdrivers::CRoboticHeadInterface::head_pitch</a><code> [private]</code></td>
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<p>Definition at line <a class="el" href="_c_robotic_head_interface_8h_source.html#l00074">74</a> of file <a class="el" href="_c_robotic_head_interface_8h_source.html">CRoboticHeadInterface.h</a>.</p>
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<a class="anchor" id="a0b36875a86c37e987f61408298848100"></a><!-- doxytag: member="mrpt::hwdrivers::CRoboticHeadInterface::head_yaw" ref="a0b36875a86c37e987f61408298848100" args="" -->
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<td class="memname">int <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_robotic_head_interface.html#a0b36875a86c37e987f61408298848100">mrpt::hwdrivers::CRoboticHeadInterface::head_yaw</a><code> [private]</code></td>
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<p>Definition at line <a class="el" href="_c_robotic_head_interface_8h_source.html#l00074">74</a> of file <a class="el" href="_c_robotic_head_interface_8h_source.html">CRoboticHeadInterface.h</a>.</p>
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<a class="anchor" id="a9dc71a758c48cd53acf846243320de1c"></a><!-- doxytag: member="mrpt::hwdrivers::CRoboticHeadInterface::m_serialNumber" ref="a9dc71a758c48cd53acf846243320de1c" args="" -->
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<td class="memname">std::string <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_robotic_head_interface.html#a9dc71a758c48cd53acf846243320de1c">mrpt::hwdrivers::CRoboticHeadInterface::m_serialNumber</a><code> [private]</code></td>
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<p>Definition at line <a class="el" href="_c_robotic_head_interface_8h_source.html#l00072">72</a> of file <a class="el" href="_c_robotic_head_interface_8h_source.html">CRoboticHeadInterface.h</a>.</p>
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<a class="anchor" id="aec276b26dd799e311344b4fe03d034e1"></a><!-- doxytag: member="mrpt::hwdrivers::CRoboticHeadInterface::m_usbConnection" ref="aec276b26dd799e311344b4fe03d034e1" args="" -->
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<td class="memname"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_interface_f_t_d_i.html">CInterfaceFTDIMessages</a> <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_robotic_head_interface.html#aec276b26dd799e311344b4fe03d034e1">mrpt::hwdrivers::CRoboticHeadInterface::m_usbConnection</a><code> [private]</code></td>
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<p>Definition at line <a class="el" href="_c_robotic_head_interface_8h_source.html#l00070">70</a> of file <a class="el" href="_c_robotic_head_interface_8h_source.html">CRoboticHeadInterface.h</a>.</p>
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<a class="anchor" id="ab46d238f810f8eebd51489aa332b0e69"></a><!-- doxytag: member="mrpt::hwdrivers::CRoboticHeadInterface::msg" ref="ab46d238f810f8eebd51489aa332b0e69" args="" -->
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<td class="memname"><a class="el" href="classmrpt_1_1utils_1_1_c_message.html">utils::CMessage</a> <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_robotic_head_interface.html#ab46d238f810f8eebd51489aa332b0e69">mrpt::hwdrivers::CRoboticHeadInterface::msg</a><code> [private]</code></td>
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<p>Definition at line <a class="el" href="_c_robotic_head_interface_8h_source.html#l00071">71</a> of file <a class="el" href="_c_robotic_head_interface_8h_source.html">CRoboticHeadInterface.h</a>.</p>
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<br><hr><br> <table border="0" width="100%"> <tr> <td> Page generated by <a href="http://www.doxygen.org" target="_blank">Doxygen 1.7.2</a> for MRPT 0.9.4 SVN: at Mon Jan 10 22:30:30 UTC 2011</td><td></td> <td width="100"> </td> <td width="150"> </td></tr> </table> </body></html>
