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<h1>CIMUXSens.h</h1> </div>
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<a href="_c_i_m_u_x_sens_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) 2005-2011 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
<a name="l00029"></a>00029 <span class="preprocessor">#ifndef CIMUXSens_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span><span class="preprocessor">#define CIMUXSens_H</span>
<a name="l00031"></a>00031 <span class="preprocessor"></span>
<a name="l00032"></a>00032
<a name="l00033"></a>00033 <span class="preprocessor">#include <<a class="code" href="_c_generic_sensor_8h.html">mrpt/hwdrivers/CGenericSensor.h</a>></span>
<a name="l00034"></a>00034 <span class="preprocessor">#include <<a class="code" href="_c_serial_port_8h.html">mrpt/hwdrivers/CSerialPort.h</a>></span>
<a name="l00035"></a>00035
<a name="l00036"></a>00036 <span class="preprocessor">#include <<a class="code" href="_c_pose3_d_8h.html">mrpt/poses/CPose3D.h</a>></span>
<a name="l00037"></a>00037
<a name="l00038"></a>00038 <span class="keyword">namespace </span>mrpt
<a name="l00039"></a>00039 {
<a name="l00040"></a>00040 <span class="keyword">namespace </span>hwdrivers
<a name="l00041"></a>00041 {
<a name="l00042"></a>00042 <span class="comment"></span>
<a name="l00043"></a>00043 <span class="comment"> /** A class for interfacing Inertial Measuring Units (IMUs) of the type "XSens MTi"</span>
<a name="l00044"></a>00044 <span class="comment"> * It uses a serial port connection to the device. The class implements the generic</span>
<a name="l00045"></a>00045 <span class="comment"> * See also the application "rawlog-grabber" for a ready-to-use application to gather data from the scanner.</span>
<a name="l00046"></a>00046 <span class="comment"> *</span>
<a name="l00047"></a>00047 <span class="comment"> * \code</span>
<a name="l00048"></a>00048 <span class="comment"> * PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:</span>
<a name="l00049"></a>00049 <span class="comment"> * -------------------------------------------------------</span>
<a name="l00050"></a>00050 <span class="comment"> * [supplied_section_name]</span>
<a name="l00051"></a>00051 <span class="comment"> * pose_x=0 ; Sensor 3D position relative to the robot (meters)</span>
<a name="l00052"></a>00052 <span class="comment"> * pose_y=0</span>
<a name="l00053"></a>00053 <span class="comment"> * pose_z=0</span>
<a name="l00054"></a>00054 <span class="comment"> * pose_yaw=0 ; Angles in degrees</span>
<a name="l00055"></a>00055 <span class="comment"> * pose_pitch=0</span>
<a name="l00056"></a>00056 <span class="comment"> * pose_roll=0</span>
<a name="l00057"></a>00057 <span class="comment"> * sensorLabel = <label> ; Label of the sensor</span>
<a name="l00058"></a>00058 <span class="comment"> * COM_port_LIN = /dev/ttyUSB0 ; COM PORT in LINUX (optional. If not provided, the system will search the connected port)</span>
<a name="l00059"></a>00059 <span class="comment"> * COM_port_WIN = COM1 ; COM PORT in Windows (optional. If not provided, the system will search the connected port)</span>
<a name="l00060"></a>00060 <span class="comment"> * baudRate ; Baudrate for communicating with the COM port (mandatory for Linux)</span>
<a name="l00061"></a>00061 <span class="comment"> * (for Windows, if COM_port_WIN is not provided, this value is ignored)</span>
<a name="l00062"></a>00062 <span class="comment"> * \endcode</span>
<a name="l00063"></a>00063 <span class="comment"> */</span>
<a name="l00064"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_i_m_u_x_sens.html">00064</a> <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_i_m_u_x_sens.html" title="A class for interfacing Inertial Measuring Units (IMUs) of the type &quot;XSens MTi&quot; It uses a s...">CIMUXSens</a> : <span class="keyword">public</span> hwdrivers::<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 RawLogGrabbe...">CGenericSensor</a>
<a name="l00065"></a>00065 {
<a name="l00066"></a>00066 <a class="code" href="_c_generic_sensor_8h.html#ab8b72c811c520eb036fa4080d9cd9d1d" title="This declaration must be inserted in all CGenericSensor classes definition, within the class declarat...">DEFINE_GENERIC_SENSOR</a>(<a class="code" 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 &quot;XSens MTi&quot; It uses a s...">CIMUXSens</a>)
<a name="l00067"></a>00067 <span class="keyword">protected</span>:
<a name="l00068"></a>00068 <span class="comment"></span>
<a name="l00069"></a>00069 <span class="comment"> /** This serial port will be attempted to be opened automatically when this class is first used to request data from the device.</span>
<a name="l00070"></a>00070 <span class="comment"> * \sa hwdrivers::CSerialPort</span>
<a name="l00071"></a>00071 <span class="comment"> */</span>
<a name="l00072"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_i_m_u_x_sens.html#ab611cff8c5a20275512eb12ed7b6a78b">00072</a> <span class="keywordtype">int</span> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_i_m_u_x_sens.html#ab611cff8c5a20275512eb12ed7b6a78b" title="This serial port will be attempted to be opened automatically when this class is first used to reques...">m_COMbauds</a>;
<a name="l00073"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_i_m_u_x_sens.html#ad3579f38391444dc861544b82f284e6e">00073</a> std::string <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_i_m_u_x_sens.html#ad3579f38391444dc861544b82f284e6e">m_com_port</a>;
<a name="l00074"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_i_m_u_x_sens.html#aeba9696a55c3ecc9018b9b7b40fc9376">00074</a> uint64_t <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_i_m_u_x_sens.html#aeba9696a55c3ecc9018b9b7b40fc9376">m_timeStartUI</a>;
<a name="l00075"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_i_m_u_x_sens.html#a5fdd574f3bc022f747d36224fee0f12e">00075</a> <a class="code" href="namespacemrpt_1_1system.html#a42674286d8d56afea013b6329bb7327a" title="A system independent time type, it holds the the number of 100-nanosecond intervals since January 1...">mrpt::system::TTimeStamp</a> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_i_m_u_x_sens.html#a5fdd574f3bc022f747d36224fee0f12e">m_timeStartTT</a>;
<a name="l00076"></a>00076
<a name="l00077"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_i_m_u_x_sens.html#a93ad94734769142ed2935d56f87a1c05">00077</a> <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d.html" title="A class used to store a 3D pose (a 3D translation + a rotation in 3D).">mrpt::poses::CPose3D</a> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_i_m_u_x_sens.html#a93ad94734769142ed2935d56f87a1c05">m_sensorPose</a>;
<a name="l00078"></a>00078 <span class="comment"></span>
<a name="l00079"></a>00079 <span class="comment"> /** Search the port where the sensor is located and connect to it</span>
<a name="l00080"></a>00080 <span class="comment"> */</span>
<a name="l00081"></a>00081 <span class="keywordtype">bool</span> searchPortAndConnect();
<a name="l00082"></a>00082
<a name="l00083"></a>00083 <span class="comment">//CSerialPort m_serial_port; //!< The serial port connection</span>
<a name="l00084"></a>00084
<a name="l00085"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_i_m_u_x_sens.html#accbe4fe3c962122ce9189057c4b87336">00085</a> <span class="keywordtype">void</span> * <span class="comment">/*xsens::Cmt3 */</span> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_i_m_u_x_sens.html#accbe4fe3c962122ce9189057c4b87336">m_cmt3_ptr</a>;
<a name="l00086"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_i_m_u_x_sens.html#a290e0e015a7657c4e5d5b496c7c26f31">00086</a> <span class="keywordtype">void</span> * <span class="comment">/*CmtDeviceId */</span> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_i_m_u_x_sens.html#a290e0e015a7657c4e5d5b496c7c26f31">m_deviceId_ptr</a>;
<a name="l00087"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_i_m_u_x_sens.html#afefbaeb1247d39850678cf6dec994b68">00087</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_i_m_u_x_sens.html#afefbaeb1247d39850678cf6dec994b68" title="Timeout counter (for internal use only)">m_toutCounter</a>; <span class="comment">//!< Timeout counter (for internal use only)</span>
<a name="l00088"></a>00088 <span class="comment"></span><span class="comment"></span>
<a name="l00089"></a>00089 <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="l00090"></a>00090 <span class="comment"> * See hwdrivers::CIMUXSens for the possible parameters</span>
<a name="l00091"></a>00091 <span class="comment"> */</span>
<a name="l00092"></a>00092 <span class="keywordtype">void</span> loadConfig_sensorSpecific(
<a name="l00093"></a>00093 <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 a configuration text...">mrpt::utils::CConfigFileBase</a> &configSource,
<a name="l00094"></a>00094 <span class="keyword">const</span> std::string &iniSection );
<a name="l00095"></a>00095
<a name="l00096"></a>00096 <span class="keyword">public</span>:<span class="comment"></span>
<a name="l00097"></a>00097 <span class="comment"> /** Constructor</span>
<a name="l00098"></a>00098 <span class="comment"> */</span>
<a name="l00099"></a>00099 <a class="code" 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 &quot;XSens MTi&quot; It uses a s...">CIMUXSens</a>( );
<a name="l00100"></a>00100 <span class="comment"></span>
<a name="l00101"></a>00101 <span class="comment"> /** Destructor</span>
<a name="l00102"></a>00102 <span class="comment"> */</span>
<a name="l00103"></a>00103 <span class="keyword">virtual</span> ~<a class="code" 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 &quot;XSens MTi&quot; It uses a s...">CIMUXSens</a>();
<a name="l00104"></a>00104
<a name="l00105"></a>00105 <span class="comment"></span>
<a name="l00106"></a>00106 <span class="comment"> /** This method will be invoked at a minimum rate of "process_rate" (Hz)</span>
<a name="l00107"></a>00107 <span class="comment"> * \exception This method must throw an exception with a descriptive message if some critical error is found.</span>
<a name="l00108"></a>00108 <span class="comment"> */</span>
<a name="l00109"></a>00109 <span class="keywordtype">void</span> doProcess();
<a name="l00110"></a>00110 <span class="comment"></span>
<a name="l00111"></a>00111 <span class="comment"> /** Turns on the xSens device and configure it for getting orientation data */</span>
<a name="l00112"></a>00112 <span class="keywordtype">void</span> initialize();
<a name="l00113"></a>00113
<a name="l00114"></a>00114 }; <span class="comment">// end of class</span>
<a name="l00115"></a>00115
<a name="l00116"></a>00116 } <span class="comment">// end of namespace</span>
<a name="l00117"></a>00117 } <span class="comment">// end of namespace</span>
<a name="l00118"></a>00118
<a name="l00119"></a>00119 <span class="preprocessor">#endif</span>
<a name="l00120"></a>00120 <span class="preprocessor"></span>
<a name="l00121"></a>00121
</pre></div></div>
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