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<div class="title">CBoardIR.h</div> </div>
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<a href="_c_board_i_r_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 CBoardIR_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span><span class="preprocessor">#define CBoardIR_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_serial_port_8h.html">mrpt/hwdrivers/CSerialPort.h</a>></span>
<a name="l00035"></a>00035 <span class="preprocessor">#include <<a class="code" href="_c_debug_output_capable_8h.html">mrpt/utils/CDebugOutputCapable.h</a>></span>
<a name="l00036"></a>00036 <span class="preprocessor">#include <<a class="code" href="_c_generic_sensor_8h.html">mrpt/hwdrivers/CGenericSensor.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>slam { <span class="keyword">class </span>CObservationGPS; }
<a name="l00041"></a>00041
<a name="l00042"></a>00042 <span class="keyword">namespace </span>hwdrivers
<a name="l00043"></a>00043 {<span class="comment"></span>
<a name="l00044"></a>00044 <span class="comment"> /** A parser of NMEA commands, for connecting to a GPS by a serial port.</span>
<a name="l00045"></a>00045 <span class="comment"> * This class also supports more advanced GPS equipped with RTK corrections. See the JAVAD/TopCon extra initialization parameters.</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"> * COM_port_WIN = COM3</span>
<a name="l00052"></a>00052 <span class="comment"> * COM_port_LIN = ttyS0</span>
<a name="l00053"></a>00053 <span class="comment"> * baudRate = 4800 // The baudrate of the communications (typ. 4800 bauds)</span>
<a name="l00054"></a>00054 <span class="comment"> * pose_x = 0 // 3D position of the sensed point relative to the robot (meters)</span>
<a name="l00055"></a>00055 <span class="comment"> * pose_y = 0</span>
<a name="l00056"></a>00056 <span class="comment"> * pose_z = 0</span>
<a name="l00057"></a>00057 <span class="comment"> * customInit = // See below for possible values</span>
<a name="l00058"></a>00058 <span class="comment"> *</span>
<a name="l00059"></a>00059 <span class="comment"> * // The next parameters are optional and will be used only</span>
<a name="l00060"></a>00060 <span class="comment"> * // if customInit=="JAVAD" to enable/configure the usage of RTK corrections:</span>
<a name="l00061"></a>00061 <span class="comment"> * //JAVAD_rtk_src_port=/dev/ser/b</span>
<a name="l00062"></a>00062 <span class="comment"> * //JAVAD_rtk_src_baud=9600</span>
<a name="l00063"></a>00063 <span class="comment"> * //JAVAD_rtk_format=cmr</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"> * - customInit: Custom commands to send, depending on the sensor. Valid values are:</span>
<a name="l00068"></a>00068 <span class="comment"> * - "": Empty string</span>
<a name="l00069"></a>00069 <span class="comment"> * - "JAVAD": JAVAD or TopCon devices. Extra initialization commands will be sent.</span>
<a name="l00070"></a>00070 <span class="comment"> * - "TopCon": A synonymous with "JAVAD".</span>
<a name="l00071"></a>00071 <span class="comment"> *</span>
<a name="l00072"></a>00072 <span class="comment"> * VERSIONS HISTORY:</span>
<a name="l00073"></a>00073 <span class="comment"> * -9/JUN/2006: First version (JLBC)</span>
<a name="l00074"></a>00074 <span class="comment"> * -4/JUN/2008: Added virtual methods for device-specific initialization commands.</span>
<a name="l00075"></a>00075 <span class="comment"> * -10/JUN/2008: Converted into CGenericSensor class (there are no inhirited classes anymore).</span>
<a name="l00076"></a>00076 <span class="comment"> * \ingroup mrpt_hwdrivers_grp</span>
<a name="l00077"></a>00077 <span class="comment"> */</span>
<a name="l00078"></a>00078 <span class="keyword">class </span><a class="code" href="hwdrivers__impexp_8h.html#a5bcf681973c7e4e76310bd0791f1b612">HWDRIVERS_IMPEXP</a> CBoardIR : <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="l00079"></a>00079 {
<a name="l00080"></a>00080 <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>(CBoardIR)
<a name="l00081"></a>00081
<a name="l00082"></a>00082 public:<span class="comment"></span>
<a name="l00083"></a>00083 <span class="comment"> /** Constructor</span>
<a name="l00084"></a>00084 <span class="comment"> * \param BUFFER_LENGTH The size of the communications buffer (default value should be fine always)</span>
<a name="l00085"></a>00085 <span class="comment"> */</span>
<a name="l00086"></a>00086 CBoardIR( <span class="keywordtype">int</span> BUFFER_LENGTH = 13 );
<a name="l00087"></a>00087 <span class="comment"></span>
<a name="l00088"></a>00088 <span class="comment"> /** Destructor</span>
<a name="l00089"></a>00089 <span class="comment"> */</span>
<a name="l00090"></a>00090 virtual ~CBoardIR();
<a name="l00091"></a>00091 <span class="comment"></span>
<a name="l00092"></a>00092 <span class="comment"> /** This method tries to get a set of range measurements from the IR sensors.</span>
<a name="l00093"></a>00093 <span class="comment"> * \param outObservation The output observation</span>
<a name="l00094"></a>00094 <span class="comment"> * \param outThereIsObservation Will be true if an observation was sucessfully received.</span>
<a name="l00095"></a>00095 <span class="comment"> * \param hardwareError Will be true if there's some important error, e.g. serial port can't be open.</span>
<a name="l00096"></a>00096 <span class="comment"> */</span>
<a name="l00097"></a>00097 <span class="keywordtype">void</span> getObservation(
<a name="l00098"></a>00098 <span class="keywordtype">bool</span> &outThereIsObservation,
<a name="l00099"></a>00099 mrpt::slam::CObservationRange &outObservation,
<a name="l00100"></a>00100 <span class="keywordtype">bool</span> &hardwareError );
<a name="l00101"></a>00101 <span class="comment"></span>
<a name="l00102"></a>00102 <span class="comment"> /** This method should be called periodically (at least at 1Hz to capture ALL the real-time data)</span>
<a name="l00103"></a>00103 <span class="comment"> * It is thread safe, i.e. you can call this from one thread, then to other methods from other threads.</span>
<a name="l00104"></a>00104 <span class="comment"> * This method processes data from the GPS and update the object state accordingly.</span>
<a name="l00105"></a>00105 <span class="comment"> */</span>
<a name="l00106"></a>00106 <span class="keywordtype">void</span> doProcess();
<a name="l00107"></a>00107
<a name="l00108"></a>00108 <span class="keywordtype">void</span> setSerialPortName(const std::<span class="keywordtype">string</span> &COM_port); <span class="comment">//!< Set the serial port to use (COM1, ttyUSB0, etc).</span>
<a name="l00109"></a>00109 <span class="comment"></span> std::<span class="keywordtype">string</span> getSerialPortName() const; <span class="comment">//!< Get the serial port to use (COM1, ttyUSB0, etc).</span>
<a name="l00110"></a>00110 <span class="comment"></span>
<a name="l00111"></a>00111 protected:
<a name="l00112"></a>00112 <span class="keywordtype">bool</span> OnConnectionEstablished();
<a name="l00113"></a>00113
<a name="l00114"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_board_i_r.html#a81f1fd12c3ffc48d7b6ef14ec8f1a5ee">00114</a> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_serial_port.html" title="A communications serial port built as an implementation of a utils::CStream.">CSerialPort</a> m_COM;
<a name="l00115"></a>00115
<a name="l00116"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_board_i_r.html#a452624993b5de830bb5c6d86a61c0746">00116</a> poses::<a class="code" href="classmrpt_1_1poses_1_1_c_point3_d.html" title="A class used to store a 3D point.">CPoint3D</a> m_sensorPose;
<a name="l00117"></a>00117
<a name="l00118"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_board_i_r.html#a410c8e5a6ad3577e667e3515802c6a89">00118</a> std::<span class="keywordtype">string</span> m_customInit;
<a name="l00119"></a>00119 <span class="comment"></span>
<a name="l00120"></a>00120 <span class="comment"> /** The minimum range in meters (10cm).</span>
<a name="l00121"></a>00121 <span class="comment"> */</span>
<a name="l00122"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_board_i_r.html#ab6f13260db96955b1f44ea38bc4a0fd2">00122</a> <span class="keywordtype">float</span> m_minRange;
<a name="l00123"></a>00123 <span class="comment"></span>
<a name="l00124"></a>00124 <span class="comment"> /** The maximum range in meters (80cm).</span>
<a name="l00125"></a>00125 <span class="comment"> */</span>
<a name="l00126"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_board_i_r.html#abc44575d484228f8c223bcc56f092eb2">00126</a> <span class="keywordtype">float</span> m_maxRange;
<a name="l00127"></a>00127 <span class="comment"></span>
<a name="l00128"></a>00128 <span class="comment"> /** The poses of the IR: x[m] y[m] z[m] yaw[deg] pitch[deg] roll[deg]</span>
<a name="l00129"></a>00129 <span class="comment"> * Up to 6 devices, but you can put any number of devices (from 1 to 6).</span>
<a name="l00130"></a>00130 <span class="comment"> */</span>
<a name="l00131"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_board_i_r.html#a74f04230696b39c6f23d40783f02fd23">00131</a> std::<a class="code" href="classstd_1_1map.html" title="STL class.">map</a><uint16_t,mrpt::math::<a class="code" href="structmrpt_1_1math_1_1_t_pose3_d.html" title="Lightweight 3D pose (three spatial coordinates, plus three angular coordinates).">TPose3D</a>> m_IRPoses;
<a name="l00132"></a>00132 <span class="comment"></span>
<a name="l00133"></a>00133 <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="l00134"></a>00134 <span class="comment"> * See hwdrivers::CGPSInterface for the possible parameters</span>
<a name="l00135"></a>00135 <span class="comment"> */</span>
<a name="l00136"></a>00136 <span class="keywordtype">void</span> loadConfig_sensorSpecific(
<a name="l00137"></a>00137 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="l00138"></a>00138 const std::<span class="keywordtype">string</span> &iniSection );
<a name="l00139"></a>00139
<a name="l00140"></a>00140 private:
<a name="l00141"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_board_i_r.html#afc61f9046a20b5ba7854f90b5c1e4d87">00141</a> std::<span class="keywordtype">string</span> m_COMname;
<a name="l00142"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_board_i_r.html#a18aabd3ddbdc464a0fa8c8870a955112">00142</a> <span class="keywordtype">int</span> m_COMbauds;
<a name="l00143"></a>00143 <span class="comment"></span>
<a name="l00144"></a>00144 <span class="comment"> /** Returns true if the COM port is already open, or try to open it in other case.</span>
<a name="l00145"></a>00145 <span class="comment"> * \return true if everything goes OK, or false if there are problems opening the port.</span>
<a name="l00146"></a>00146 <span class="comment"> */</span>
<a name="l00147"></a>00147 <span class="keywordtype">bool</span> tryToOpenTheCOM();
<a name="l00148"></a>00148
<a name="l00149"></a>00149 }; <span class="comment">// end class</span>
<a name="l00150"></a>00150
<a name="l00151"></a>00151 } <span class="comment">// end namespace</span>
<a name="l00152"></a>00152 } <span class="comment">// end namespace</span>
<a name="l00153"></a>00153
<a name="l00154"></a>00154 <span class="preprocessor">#endif</span>
</pre></div></div>
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