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<div class="title">CPhidgetInterfaceKitProximitySensors.h</div> </div>
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<a href="_c_phidget_interface_kit_proximity_sensors_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://www.mrpt.org/ |</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 CPhidgetInterfaceKitProximitySensors_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span><span class="preprocessor">#define CPhidgetInterfaceKitProximitySensors_H</span>
<a name="l00031"></a>00031 <span class="preprocessor"></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="_c_observation_range_8h.html">mrpt/slam/CObservationRange.h</a>></span>
<a name="l00033"></a>00033 <span class="preprocessor">#include <<a class="code" href="_c_point3_d_8h.html">mrpt/poses/CPoint3D.h</a>></span>
<a name="l00034"></a>00034 <span class="preprocessor">#include <<a class="code" href="_c_debug_output_capable_8h.html">mrpt/utils/CDebugOutputCapable.h</a>></span>
<a name="l00035"></a>00035 <span class="preprocessor">#include <<a class="code" href="_c_generic_sensor_8h.html">mrpt/hwdrivers/CGenericSensor.h</a>></span>
<a name="l00036"></a>00036
<a name="l00037"></a>00037 <span class="keyword">namespace </span>mrpt
<a name="l00038"></a>00038 {
<a name="l00039"></a>00039 <span class="keyword">namespace </span>hwdrivers
<a name="l00040"></a>00040 {<span class="comment"></span>
<a name="l00041"></a>00041 <span class="comment"> /** \brief : An interface for the phidget Interface kit board (1018).</span>
<a name="l00042"></a>00042 <span class="comment"> * \class CPhidgetInterfaceKitProximitySensors</span>
<a name="l00043"></a>00043 <span class="comment"> * \author Adrien BARRAL - Robopec (aba@robopec.com).</span>
<a name="l00044"></a>00044 <span class="comment"> *</span>
<a name="l00045"></a>00045 <span class="comment"> * An interface for the Phidgets Interface kit board (part number 1018) on wich it could be plugged either an Sharp IR adaptater board</span>
<a name="l00046"></a>00046 <span class="comment"> * (phidget's part number : 1101),or a MaxBotix EZ-1 sonar (phidget's part number : 1118).</span>
<a name="l00047"></a>00047 <span class="comment"> * The configuration file describe what is plugged to this board, and the geometry of the sensors on the robots. See the exemple below.</span>
<a name="l00048"></a>00048 <span class="comment"> * \code</span>
<a name="l00049"></a>00049 <span class="comment"> * [PhidgetInterfaceKitProximitySensors]</span>
<a name="l00050"></a>00050 <span class="comment"> * sensorLabel = FrontProximitySensors</span>
<a name="l00051"></a>00051 <span class="comment"> * process_rate = 100 // Integer value in Hz (common to all sensors), default value is 50Hz.</span>
<a name="l00052"></a>00052 <span class="comment"> * displayRecapitulativeInformations = true // default value = false.</span>
<a name="l00053"></a>00053 <span class="comment"> * serialNumber = 12345 // The interface kit serial number (Integer value), default value is -1.</span>
<a name="l00054"></a>00054 <span class="comment"> * sensor1 = SHARP-30cm // sharp InfraRed sensor 30cm range (string value). capital to convert raw data to range data (in meters).</span>
<a name="l00055"></a>00055 <span class="comment"> * pose1_x = 0 // position on the robot (float value in meters)</span>
<a name="l00056"></a>00056 <span class="comment"> * pose1_y = 0</span>
<a name="l00057"></a>00057 <span class="comment"> * pose1_z = 0.5</span>
<a name="l00058"></a>00058 <span class="comment"> * pose1_yaw = -45.0 // Angles in degrees (float value).</span>
<a name="l00059"></a>00059 <span class="comment"> * pose1_pitch = 0</span>
<a name="l00060"></a>00060 <span class="comment"> * pose1_roll = 0</span>
<a name="l00061"></a>00061 <span class="comment"> * //...</span>
<a name="l00062"></a>00062 <span class="comment"> * sensorn = EZ1 // Maxbotix Ultrasound sonar</span>
<a name="l00063"></a>00063 <span class="comment"> * posen_x = 0</span>
<a name="l00064"></a>00064 <span class="comment"> * // ...</span>
<a name="l00065"></a>00065 <span class="comment"> * \endcode</span>
<a name="l00066"></a>00066 <span class="comment"> *</span>
<a name="l00067"></a>00067 <span class="comment"> * The maximum number of sensors on this board is 8. Sensor 1 is the first sensor. If you haven't plugged any sensor on an entry of the board, you haven't to specify</span>
<a name="l00068"></a>00068 <span class="comment"> * anyithing about this sensor in the configuration file.</span>
<a name="l00069"></a>00069 <span class="comment"> * The following table enumerate the different sensors supported by this class.</span>
<a name="l00070"></a>00070 <span class="comment"> * \latexonly</span>
<a name="l00071"></a>00071 <span class="comment"> * \begin{tabular}{|c|c|c}</span>
<a name="l00072"></a>00072 <span class="comment"> * \hline</span>
<a name="l00073"></a>00073 <span class="comment"> * Part Number & Config file indentifiant & IR or US</span>
<a name="l00074"></a>00074 <span class="comment"> * \hline</span>
<a name="l00075"></a>00075 <span class="comment"> * MaxBotix EZ-1 Sonar Sensor & EZ1 & US \\</span>
<a name="l00076"></a>00076 <span class="comment"> * GP2D12 & SHARP-30cm & IR \\</span>
<a name="l00077"></a>00077 <span class="comment"> * GP2Y0A21** & SHARP-80cm & IR \\</span>
<a name="l00078"></a>00078 <span class="comment"> * \hline</span>
<a name="l00079"></a>00079 <span class="comment"> * \end{tabular}</span>
<a name="l00080"></a>00080 <span class="comment"> *</span>
<a name="l00081"></a>00081 <span class="comment"> * This isn't an event based implementation of the phidget library. That means that when an instanciation of a CPhidgetInterfaceKitProximitySensors is done, the constructor will block during</span>
<a name="l00082"></a>00082 <span class="comment"> * in the worst case 200ms, if the board isn't found, an exception will be thrown.</span>
<a name="l00083"></a>00083 <span class="comment"> * CObservation returned by this class is a CObservationRange. CObservationrange::minSensorDistance will be the minimum of the minimum of the sensor distances, e.g if you plug to the interface</span>
<a name="l00084"></a>00084 <span class="comment"> * kit a GP2D12 (min range 4 cm) and a GP2Y0A21 (min range 8 cm), then CObservationrange::minSensorDistance = min(0.04,0.08) = 0.04. Respectively for the maximal range.</span>
<a name="l00085"></a>00085 <span class="comment"> * \endlatexonly</span>
<a name="l00086"></a>00086 <span class="comment"> * \warning{The Phidget library use udev. By default, udev require to be root to be launched, if you want to be able to run a program wich use a phidget board without be root, you must modify files in /etc/udev/rules.d .}</span>
<a name="l00087"></a>00087 <span class="comment"> * \ingroup mrpt_hwdrivers_grp</span>
<a name="l00088"></a>00088 <span class="comment"> */</span>
<a name="l00089"></a><a class="code" href="namespacemrpt_1_1hwdrivers.html#ab2ce405d42d3202e12e44a7b853c19d3a8c8bb779922c1523cddf6fdc1f4b84b0">00089</a> <span class="keyword">enum</span> <a class="code" href="namespacemrpt_1_1hwdrivers.html#ab2ce405d42d3202e12e44a7b853c19d3">SensorType</a>{<a class="code" href="namespacemrpt_1_1hwdrivers.html#ab2ce405d42d3202e12e44a7b853c19d3a807084676efc50be113aa61fb5197efc">SHARP_30cm</a>, <a class="code" href="namespacemrpt_1_1hwdrivers.html#ab2ce405d42d3202e12e44a7b853c19d3afb5b30d3e25c7df5fd02cbfb6a63b1ad">SHARP_80cm</a>, <a class="code" href="namespacemrpt_1_1hwdrivers.html#ab2ce405d42d3202e12e44a7b853c19d3a87a937222effa57ca20257acaae36737">EZ1</a>, <a class="code" href="namespacemrpt_1_1hwdrivers.html#ab2ce405d42d3202e12e44a7b853c19d3a8c8bb779922c1523cddf6fdc1f4b84b0">UNPLUGGED</a>};
<a name="l00090"></a>00090
<a name="l00091"></a>00091 <span class="keyword">class </span><a class="code" href="hwdrivers__impexp_8h.html#a5bcf681973c7e4e76310bd0791f1b612">HWDRIVERS_IMPEXP</a> CPhidgetInterfaceKitProximitySensors : <span class="keyword">public</span> utils::CDebugOutputCapable, <span class="keyword">public</span> <a class="code" href="namespacemrpt_1_1hwdrivers.html#a3f369b2dbc16368a52f0ddab62ba5702">CGenericSensor</a>
<a name="l00092"></a>00092 {
<a name="l00093"></a>00093 <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>(CPhidgetInterfaceKitProximitySensors)
<a name="l00094"></a>00094
<a name="l00095"></a>00095 public:<span class="comment"></span>
<a name="l00096"></a>00096 <span class="comment"> /** Constructor</span>
<a name="l00097"></a>00097 <span class="comment"> * \param serialNumber The board's serial number. Set -1 to choose the first available board</span>
<a name="l00098"></a>00098 <span class="comment"> */</span>
<a name="l00099"></a>00099 CPhidgetInterfaceKitProximitySensors();
<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 virtual ~CPhidgetInterfaceKitProximitySensors();
<a name="l00104"></a>00104 <span class="comment"></span>
<a name="l00105"></a>00105 <span class="comment"> /** This method tries to get a set of range measurements from the IR sensors.</span>
<a name="l00106"></a>00106 <span class="comment"> * \param outThereIsObservation Will be true if an observation was sucessfully received.</span>
<a name="l00107"></a>00107 <span class="comment"> */</span>
<a name="l00108"></a>00108 <span class="keywordtype">void</span> getObservation(mrpt::slam::CObservationRange &outObservation);<span class="comment"></span>
<a name="l00109"></a>00109 <span class="comment"> /** Initialize the sensor according to the parameters previously read in the configuration file.</span>
<a name="l00110"></a>00110 <span class="comment"> * \exception throw an exception if the board could not be found.</span>
<a name="l00111"></a>00111 <span class="comment"> * \exception throw an exception if the process rate can't be set on one of the board channel.</span>
<a name="l00112"></a>00112 <span class="comment"> */</span>
<a name="l00113"></a>00113 <span class="keywordtype">void</span> initialize();
<a name="l00114"></a>00114 <span class="comment"></span>
<a name="l00115"></a>00115 <span class="comment"> /** This method should be called periodically. Period depend on the process_rate in the configuration file.</span>
<a name="l00116"></a>00116 <span class="comment"> */</span>
<a name="l00117"></a>00117 <span class="keywordtype">void</span> doProcess();
<a name="l00118"></a>00118
<a name="l00119"></a>00119 private:<span class="comment"></span>
<a name="l00120"></a>00120 <span class="comment"> /** An 8 dimension vector of boolean value wich store the presence or abscence of a sensor on the phidget interface kit board.</span>
<a name="l00121"></a>00121 <span class="comment"> */</span>
<a name="l00122"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_phidget_interface_kit_proximity_sensors.html#a6e3a6e8c7e69b8df88cf640b96ea3aca">00122</a> std::<a class="code" href="classstd_1_1vector.html" title="STL class.">vector</a><<span class="keywordtype">bool</span>> m_sensorIsPlugged;<span class="comment"></span>
<a name="l00123"></a>00123 <span class="comment"> /** The minimum range in meters, this field is automaticaly filled according to the sensor part number read in the configuration file.</span>
<a name="l00124"></a>00124 <span class="comment"> * Size of this vector depend on the number of sensors described in the configuration file.</span>
<a name="l00125"></a>00125 <span class="comment"> */</span>
<a name="l00126"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_phidget_interface_kit_proximity_sensors.html#a19e8c391a80ff0d4415f3ea282400d47">00126</a> std::<a class="code" href="classstd_1_1vector.html" title="STL class.">vector</a><<span class="keywordtype">float</span>> m_minRange;
<a name="l00127"></a>00127 <span class="comment"></span>
<a name="l00128"></a>00128 <span class="comment"> /** The maximum range in meters, this field is automaticaly filled according to the sensor part number read in the configuration file.</span>
<a name="l00129"></a>00129 <span class="comment"> * Size of this vector depend on the number of sensors described in the configuration file.</span>
<a name="l00130"></a>00130 <span class="comment"> */</span>
<a name="l00131"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_phidget_interface_kit_proximity_sensors.html#a9a1a210b043da5d2bb9916036e13118d">00131</a> std::<a class="code" href="classstd_1_1vector.html" title="STL class.">vector</a><<span class="keywordtype">float</span>> m_maxRange;
<a name="l00132"></a>00132 <span class="comment"></span>
<a name="l00133"></a>00133 <span class="comment"> /** The sensor type.</span>
<a name="l00134"></a>00134 <span class="comment"> */</span>
<a name="l00135"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_phidget_interface_kit_proximity_sensors.html#a40bf87c780f7d7cfe40e8cb38779234d">00135</a> std::<a class="code" href="classstd_1_1vector.html" title="STL class.">vector</a><<a class="code" href="namespacemrpt_1_1hwdrivers.html#ab2ce405d42d3202e12e44a7b853c19d3">SensorType</a>> m_sensorType;<span class="comment"></span>
<a name="l00136"></a>00136 <span class="comment"> /** The poses of the 8 sensors x[m] y[m] z[m] yaw[deg] pitch[deg] roll[deg]. This field is automaticaly filled according to the sensor</span>
<a name="l00137"></a>00137 <span class="comment"> * described in the configuration file.</span>
<a name="l00138"></a>00138 <span class="comment"> */</span>
<a name="l00139"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_phidget_interface_kit_proximity_sensors.html#a08edd975050f9738b86ee5e104166f1b">00139</a> std::<a class="code" href="classstd_1_1vector.html" title="STL class.">vector</a><mrpt::math::<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).">CPose3D</a>> m_sensorPoses;
<a name="l00140"></a>00140 <span class="comment"></span>
<a name="l00141"></a>00141 <span class="comment"> /** The board serial number read in the configuration file. -1 for any board.</span>
<a name="l00142"></a>00142 <span class="comment"> */</span>
<a name="l00143"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_phidget_interface_kit_proximity_sensors.html#a99d1d29ea0df26afc6dc120805cca5a8">00143</a> <span class="keywordtype">int</span> m_serialNumber;
<a name="l00144"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_phidget_interface_kit_proximity_sensors.html#a4edbf0f790de45418b88a19a9a1284e6">00144</a> <span class="keywordtype">float</span> m_minOfMinRanges;
<a name="l00145"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_phidget_interface_kit_proximity_sensors.html#a348f823e70e77ffd3e1732b321a91ed7">00145</a> <span class="keywordtype">float</span> m_maxOfMaxRanges;
<a name="l00146"></a>00146
<a name="l00147"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_phidget_interface_kit_proximity_sensors.html#af50d0398c520d4a7102be7da022b4b5c">00147</a> <span class="keywordtype">void</span>* m_carteInterfaceKit; <span class="comment">//CPhidgetInterfaceKitHandle</span>
<a name="l00148"></a>00148 <span class="comment"></span>
<a name="l00149"></a>00149 <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="l00150"></a>00150 <span class="comment"> * See hwdrivers::CGPSInterface for the possible parameters</span>
<a name="l00151"></a>00151 <span class="comment"> */</span>
<a name="l00152"></a>00152 <span class="keywordtype">void</span> loadConfig_sensorSpecific( const mrpt::utils::<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...">CConfigFileBase</a> &configSource,
<a name="l00153"></a>00153 const std::<span class="keywordtype">string</span> &iniSection );
<a name="l00154"></a>00154 }; <span class="comment">// end class</span>
<a name="l00155"></a>00155
<a name="l00156"></a>00156 } <span class="comment">// end namespace</span>
<a name="l00157"></a>00157 } <span class="comment">// end namespace</span>
<a name="l00158"></a>00158
<a name="l00159"></a>00159 <span class="preprocessor">#endif</span>
</pre></div></div>
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