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<div class="title">CRoboticHeadInterface.h</div> </div>
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<a href="_c_robotic_head_interface_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 CRoboticHeadInterface_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span><span class="preprocessor">#define CRoboticHeadInterface_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_interface_f_t_d_i_8h.html">mrpt/hwdrivers/CInterfaceFTDI.h</a>></span>
<a name="l00033"></a>00033 <span class="preprocessor">#include <<a class="code" href="_c_interface_f_t_d_i_messages_8h.html">mrpt/hwdrivers/CInterfaceFTDIMessages.h</a>></span>
<a name="l00034"></a>00034 <span class="preprocessor">#include <<a class="code" href="_c_message_8h.html">mrpt/utils/CMessage.h</a>></span>
<a name="l00035"></a>00035 <span class="preprocessor">#include <<a class="code" href="synch_8h.html">mrpt/synch.h</a>></span>
<a name="l00036"></a>00036 <span class="preprocessor">#include <<a class="code" href="_c_matrix_template_8h.html">mrpt/math/CMatrixTemplate.h</a>></span>
<a name="l00037"></a>00037 <span class="preprocessor">#include <<a class="code" href="_c_debug_output_capable_8h.html">mrpt/utils/CDebugOutputCapable.h</a>></span>
<a name="l00038"></a>00038 <span class="preprocessor">#include <<a class="code" href="_c_config_file_base_8h.html">mrpt/utils/CConfigFileBase.h</a>></span>
<a name="l00039"></a>00039 <span class="preprocessor">#include <<a class="code" href="_c_observation_range_8h.html">mrpt/slam/CObservationRange.h</a>></span>
<a name="l00040"></a>00040
<a name="l00041"></a>00041
<a name="l00042"></a>00042 <span class="keyword">namespace </span>mrpt
<a name="l00043"></a>00043 {
<a name="l00044"></a>00044 <span class="keyword">namespace </span>hwdrivers
<a name="l00045"></a>00045 {
<a name="l00046"></a>00046 <span class="keyword">using namespace </span>mrpt::math;
<a name="l00047"></a>00047 <span class="comment"></span>
<a name="l00048"></a>00048 <span class="comment"> /** This "software driver" implements the communication protocol for interfacing a Robotic Head Board through a custom</span>
<a name="l00049"></a>00049 <span class="comment"> * USB RS-422 interface board.</span>
<a name="l00050"></a>00050 <span class="comment"> * 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.</span>
<a name="l00051"></a>00051 <span class="comment"> * The default serial number is "OREJA001"</span>
<a name="l00052"></a>00052 <span class="comment"> *</span>
<a name="l00053"></a>00053 <span class="comment"> * Warning: Avoid defining an object of this class in a global scope if you want to catch all potential</span>
<a name="l00054"></a>00054 <span class="comment"> * exceptions during the constructors (like USB interface DLL not found, etc...)</span>
<a name="l00055"></a>00055 <span class="comment"> *</span>
<a name="l00056"></a>00056 <span class="comment"> * \code</span>
<a name="l00057"></a>00057 <span class="comment"> * PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:</span>
<a name="l00058"></a>00058 <span class="comment"> * -------------------------------------------------------</span>
<a name="l00059"></a>00059 <span class="comment"> * [supplied_section_name]</span>
<a name="l00060"></a>00060 <span class="comment"> * HEAD_serialNumber=OREJA001</span>
<a name="l00061"></a>00061 <span class="comment"> * HEAD_gain=127,127,127</span>
<a name="l00062"></a>00062 <span class="comment"> * HEAD_yaw=0 //orientación inicial</span>
<a name="l00063"></a>00063 <span class="comment"> * HEAD_pitch=0 //elevación inicial</span>
<a name="l00064"></a>00064 <span class="comment"> * \endcode</span>
<a name="l00065"></a>00065 <span class="comment"> * \ingroup mrpt_hwdrivers_grp</span>
<a name="l00066"></a>00066 <span class="comment"> */</span>
<a name="l00067"></a>00067 <span class="keyword">class </span><a class="code" href="hwdrivers__impexp_8h.html#a5bcf681973c7e4e76310bd0791f1b612">HWDRIVERS_IMPEXP</a> CRoboticHeadInterface : <span class="keyword">public</span> mrpt::utils::CDebugOutputCapable
<a name="l00068"></a>00068 {
<a name="l00069"></a>00069 <span class="keyword">private</span>:
<a name="l00070"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_robotic_head_interface.html#aec276b26dd799e311344b4fe03d034e1">00070</a> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_interface_f_t_d_i.html" title="A definition of a CStream actually representing a USB connection to a FTDI chip.">CInterfaceFTDIMessages</a> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_robotic_head_interface.html#aec276b26dd799e311344b4fe03d034e1">m_usbConnection</a>;
<a name="l00071"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_robotic_head_interface.html#ab46d238f810f8eebd51489aa332b0e69">00071</a> utils<a class="code" href="classmrpt_1_1utils_1_1_c_message.html" title="A class that contain generic messages, that can be sent and received from a "CClientTCPSocket" object...">::CMessage</a> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_robotic_head_interface.html#ab46d238f810f8eebd51489aa332b0e69">msg</a>;
<a name="l00072"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_robotic_head_interface.html#a9dc71a758c48cd53acf846243320de1c">00072</a> std<a class="code" href="classstd_1_1string.html" title="STL class.">::string</a> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_robotic_head_interface.html#a9dc71a758c48cd53acf846243320de1c">m_serialNumber</a>;
<a name="l00073"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_robotic_head_interface.html#a99d940437c6cb9d1dbd67b1f38e8cef7">00073</a> std<a class="code" href="classstd_1_1vector.html">::vector<int32_t></a> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_robotic_head_interface.html#a99d940437c6cb9d1dbd67b1f38e8cef7">gain</a>;
<a name="l00074"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_robotic_head_interface.html#a0b36875a86c37e987f61408298848100">00074</a> <span class="keywordtype">int</span> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_robotic_head_interface.html#a0b36875a86c37e987f61408298848100">head_yaw</a>, head_pitch;
<a name="l00075"></a>00075
<a name="l00076"></a>00076 <span class="keywordtype">bool</span> checkControllerIsConnected();
<a name="l00077"></a>00077
<a name="l00078"></a>00078 <span class="keyword">protected</span>:<span class="comment"></span>
<a name="l00079"></a>00079 <span class="comment"> /** Loads specific configuration for the device from a given source of configuration parameters, for example, an ".ini" file,</span>
<a name="l00080"></a>00080 <span class="comment"> * loading from the section "[iniSection]" (see utils::CConfigFileBase and derived classes)</span>
<a name="l00081"></a>00081 <span class="comment"> * See hwdrivers::CSonarSRF10 for the possible parameters</span>
<a name="l00082"></a>00082 <span class="comment"> */</span>
<a name="l00083"></a>00083 <span class="keywordtype">void</span> loadConfig_sensorSpecific( <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="l00084"></a>00084 <span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &iniSection );
<a name="l00085"></a>00085
<a name="l00086"></a>00086 <span class="keyword">public</span>:<span class="comment"></span>
<a name="l00087"></a>00087 <span class="comment"> /** Constructor</span>
<a name="l00088"></a>00088 <span class="comment"> */</span>
<a name="l00089"></a>00089 <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_robotic_head_interface.html" title="This "software driver" implements the communication protocol for interfacing a Robotic Head Board thr...">CRoboticHeadInterface</a>();
<a name="l00090"></a>00090 <span class="comment"></span>
<a name="l00091"></a>00091 <span class="comment"> /** Destructor</span>
<a name="l00092"></a>00092 <span class="comment"> */</span>
<a name="l00093"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_robotic_head_interface.html#aaf98ec91a98c09a1d290d2e2177151e4">00093</a> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_robotic_head_interface.html#aaf98ec91a98c09a1d290d2e2177151e4" title="Destructor.">~CRoboticHeadInterface</a>(){}
<a name="l00094"></a>00094 <span class="comment"></span>
<a name="l00095"></a>00095 <span class="comment"> /** Changes the serial number of the device to open</span>
<a name="l00096"></a>00096 <span class="comment"> */</span>
<a name="l00097"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_robotic_head_interface.html#a572a024184a845bfb0ebe9545c433046">00097</a> <span class="keywordtype">void</span> setDeviceSerialNumber(<span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &deviceSerialNumber)
<a name="l00098"></a>00098 {
<a name="l00099"></a>00099 m_serialNumber = deviceSerialNumber;
<a name="l00100"></a>00100 }
<a name="l00101"></a>00101 <span class="comment"></span>
<a name="l00102"></a>00102 <span class="comment"> /** Read the gain for the amplifier of the ear "channel", where channel is 0, 1 or 2.</span>
<a name="l00103"></a>00103 <span class="comment"> */</span>
<a name="l00104"></a>00104 <span class="keywordtype">void</span> GetGain(<span class="keywordtype">int</span> &_gain,<span class="keywordtype">int</span> &channel);
<a name="l00105"></a>00105 <span class="comment"></span>
<a name="l00106"></a>00106 <span class="comment"> /** Set the gain for the amplifier each ear. The value range is [0x00(min) .. 0x7F(max)]. The value 0x80 set the resistor</span>
<a name="l00107"></a>00107 <span class="comment"> * in high impedance state, ¡¡¡DON'T USE IT!!!</span>
<a name="l00108"></a>00108 <span class="comment"> */</span>
<a name="l00109"></a>00109 <span class="keywordtype">bool</span> SetGain(<span class="keywordtype">int</span> &new_gain,<span class="keywordtype">int</span> &channel);
<a name="l00110"></a>00110 <span class="comment"></span>
<a name="l00111"></a>00111 <span class="comment"> /** This function return the angle where last sound where detected. This angle is related to the robot pose, NOT head pose.</span>
<a name="l00112"></a>00112 <span class="comment"> * \code</span>
<a name="l00113"></a>00113 <span class="comment"> * angle > 0deg --> Sound detected in the left</span>
<a name="l00114"></a>00114 <span class="comment"> * angle = 0deg --> Sound detected in front of the head</span>
<a name="l00115"></a>00115 <span class="comment"> * angle < 0deg --> Sound detected in the right</span>
<a name="l00116"></a>00116 <span class="comment"> * \endcode</span>
<a name="l00117"></a>00117 <span class="comment"> */</span>
<a name="l00118"></a>00118 <span class="keywordtype">void</span> GetSoundLocation(<span class="keywordtype">int</span> &ang);
<a name="l00119"></a>00119 <span class="comment"></span>
<a name="l00120"></a>00120 <span class="comment"> /** Debug only!!! This function return the last 500 acquired samples for each sound channel.</span>
<a name="l00121"></a>00121 <span class="comment"> *</span>
<a name="l00122"></a>00122 <span class="comment"> */</span>
<a name="l00123"></a>00123 <span class="keywordtype">void</span> Get3SoundBuffer(<a class="code" href="classmrpt_1_1math_1_1_c_matrix_template.html" title="This template class provides the basic functionality for a general 2D any-size, resizable container o...">CMatrixTemplate<int></a> &buf);
<a name="l00124"></a>00124 <span class="comment"></span>
<a name="l00125"></a>00125 <span class="comment"> /** Move the head in:</span>
<a name="l00126"></a>00126 <span class="comment"> * \code</span>
<a name="l00127"></a>00127 <span class="comment"> * elevation = 'yaw' degrees</span>
<a name="l00128"></a>00128 <span class="comment"> * orientation = 'pitch' degrees</span>
<a name="l00129"></a>00129 <span class="comment"> * \endcode</span>
<a name="l00130"></a>00130 <span class="comment"> */</span>
<a name="l00131"></a>00131 <span class="keywordtype">void</span> SetHeadPose(<span class="keywordtype">int</span> &yaw, <span class="keywordtype">int</span> &pitch);
<a name="l00132"></a>00132
<a name="l00133"></a>00133 <span class="comment">//TO DO --> Funciones del acelerómetro</span>
<a name="l00134"></a>00134 <span class="comment">// Movimientos faciales</span>
<a name="l00135"></a>00135
<a name="l00136"></a>00136 }; <span class="comment">// End of class</span>
<a name="l00137"></a>00137
<a name="l00138"></a>00138 } <span class="comment">// End of namespace</span>
<a name="l00139"></a>00139 } <span class="comment">// end of namespace</span>
<a name="l00140"></a>00140
<a name="l00141"></a>00141 <span class="preprocessor">#endif</span>
<a name="l00142"></a>00142 <span class="preprocessor"></span>
</pre></div></div>
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