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<div class="title">mrpt::hwdrivers::CActivMediaRobotBase Class Reference<div class="ingroups"><a class="el" href="group__mrpt__hwdrivers__grp.html">[mrpt-hwdrivers]</a></div></div> </div>
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<!-- doxytag: class="mrpt::hwdrivers::CActivMediaRobotBase" --><!-- doxytag: inherits="mrpt::hwdrivers::CGenericSensor" --><hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>This software driver implements the communications (and some rudimentary control) for ActivMedia robotic bases (Pioneer DX/AT, PeopleBot, etc). </p>
<p>There is implemented access to robot odometry, ticks counts, velocities, battery charge status, and sonar readings, as well as basic velocity control.</p>
<p>It is required to check MRPT_BUILD_ARIA in the cmake configuration to enable this class to work properly.</p>
<p>See also the application "rawlog-grabber" for a ready-to-use application to gather data from the robot base. Through that "common sensor interface", this object can collect these kinds of observations:</p>
<ul>
<li><a class="el" href="classmrpt_1_1slam_1_1_c_observation_odometry.html" title="An observation of the current (cumulative) odometry for a wheeled robot.">mrpt::slam::CObservationOdometry</a> : For odometry</li>
<li><a class="el" href="classmrpt_1_1slam_1_1_c_observation_range.html" title="Declares a class derived from "CObservation" that encapsules a single range measurement, and associated parameters.">mrpt::slam::CObservationRange</a> : For sonars</li>
</ul>
<p>To use this class out of rawlog-grabber, "initialize" must be called to connect to the robot. Before that, set the serial port with setSerialPortConfig.</p>
<p>Example .ini block for rawlog-grabber (format used in "loadConfig"):</p>
<div class="fragment"><pre class="fragment"> PARAMETERS IN THE <span class="stringliteral">".INI"</span>-LIKE CONFIGURATION STRINGS:
-------------------------------------------------------
[supplied_section_name]
robotPort_WIN = COM1
robotPort_LIN = /dev/ttyUSB0
robotBaud = 115200
<a class="code" href="classmrpt_1_1hwdrivers_1_1_c_activ_media_robot_base.html#a764b26aaf1e37c326314c35ce16c682e" title="Enable sonars.">enableSonars</a> = 0 ; 0:Disabled (<span class="keywordflow">default</span>), 1: Enabled
capture_rate = 10.0 ; In Hz, the rate at which sonars & odometry are gathered (<span class="keywordflow">default</span>=10Hz)
joystick_control = 0 ; 0:Disabled (default), 1: Enabled
joystick_max_v = 0.1 ; Max joystick control speed (m/s)
joystick_max_w_degps = 20 ; Max joystick control speed (deg/s)
</pre></div> </div>
<p><code>#include <<a class="el" href="_c_activ_media_robot_base_8h_source.html">mrpt/hwdrivers/CActivMediaRobotBase.h</a>></code></p>
<div class="dynheader">
Inheritance diagram for mrpt::hwdrivers::CActivMediaRobotBase:</div>
<div class="dyncontent">
<div class="center"><img src="classmrpt_1_1hwdrivers_1_1_c_activ_media_robot_base__inherit__graph.png" border="0" usemap="#mrpt_1_1hwdrivers_1_1_c_activ_media_robot_base_inherit__map" alt="Inheritance graph"/></div>
<map name="mrpt_1_1hwdrivers_1_1_c_activ_media_robot_base_inherit__map" id="mrpt_1_1hwdrivers_1_1_c_activ_media_robot_base_inherit__map">
<area shape="rect" id="node2" 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..." alt="" coords="27,80,243,107"/><area shape="rect" id="node4" href="classmrpt_1_1utils_1_1_c_uncopiable.html" title="The base class of classes that cannot be copied: compile-time errors will be issued on any copy opera..." alt="" coords="53,5,216,32"/></map>
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="classmrpt_1_1hwdrivers_1_1_c_activ_media_robot_base-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="nested-classes"></a>
Classes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1hwdrivers_1_1_c_activ_media_robot_base_1_1_t_robot_description.html">TRobotDescription</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A structure describing the robot. <a href="structmrpt_1_1hwdrivers_1_1_c_activ_media_robot_base_1_1_t_robot_description.html#details">More...</a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-types"></a>
Public Types</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">enum  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a44262a8f1ffcc87871fbd717d3fc2cab">TSensorState</a> { <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a44262a8f1ffcc87871fbd717d3fc2caba0e2689514dd41d48164e021013549a44">ssInitializing</a> = 0,
<a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a44262a8f1ffcc87871fbd717d3fc2cabaacc62e94572e3cd3b4b08caad173a489">ssWorking</a>,
<a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a44262a8f1ffcc87871fbd717d3fc2caba8f76c8318736df85b6805ca460f8d262">ssError</a>
}</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The current state of the sensor. <a href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a44262a8f1ffcc87871fbd717d3fc2cab">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="classstd_1_1multimap.html">std::multimap</a><br class="typebreak"/>
< <a class="el" href="group__time__date.html#ga42674286d8d56afea013b6329bb7327a">mrpt::system::TTimeStamp</a>, <br class="typebreak"/>
<a class="el" href="structmrpt_1_1utils_1_1_c_serializable_ptr.html">mrpt::utils::CSerializablePtr</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#af237beee1de7f3e5733e305921695b30">TListObservations</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef std::pair<br class="typebreak"/>
< <a class="el" href="group__time__date.html#ga42674286d8d56afea013b6329bb7327a">mrpt::system::TTimeStamp</a>, <br class="typebreak"/>
<a class="el" href="structmrpt_1_1utils_1_1_c_serializable_ptr.html">mrpt::utils::CSerializablePtr</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a78712e0c40c510978fb8589774056ab3">TListObsPair</a></td></tr>
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public 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_activ_media_robot_base.html#abdebc0341c7eb478a84ea859c15e9997">initialize</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Connects to the robot. <a href="#abdebc0341c7eb478a84ea859c15e9997"></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_activ_media_robot_base.html#abda6f867f431f43da549f0b002c1a780">CActivMediaRobotBase</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Constructor. <a href="#abda6f867f431f43da549f0b002c1a780"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_activ_media_robot_base.html#afd2a80ec5f9ae20d0c2be72379744593">~CActivMediaRobotBase</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Destructor: turns off communications. <a href="#afd2a80ec5f9ae20d0c2be72379744593"></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_activ_media_robot_base.html#ae017c7d94e2aad2c28c18cffcac7e4e7">setSerialPortConfig</a> (const <a class="el" href="classstd_1_1string.html">std::string</a> &portName, int portBaudRate)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Manually sets the serial port configuration. <a href="#ae017c7d94e2aad2c28c18cffcac7e4e7"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classstd_1_1string.html">std::string</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_activ_media_robot_base.html#a18af3de8aab272b138696632410f83e2">getSerialPort</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the current value of the serial port. <a href="#a18af3de8aab272b138696632410f83e2"></a><br/></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_activ_media_robot_base.html#a6ae2710131e6368d4a3eda28dce3953d">getSerialPortBaudRate</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the current value of the serial port baudrate. <a href="#a6ae2710131e6368d4a3eda28dce3953d"></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_activ_media_robot_base.html#aafd30144d98061b4fa2b7bc446a7407a">doProcess</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Collect odometry readings and put them in the "observations" queue: DO NOT call this normally, it's useful only for the application rawloggrabber. <a href="#aafd30144d98061b4fa2b7bc446a7407a"></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_activ_media_robot_base.html#a12a1e5928e0048a7363a362ad1c2ff85">changeOdometry</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">mrpt::poses::CPose2D</a> &newOdometry)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Change the current robot odometry pose. <a href="#a12a1e5928e0048a7363a362ad1c2ff85"></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_activ_media_robot_base.html#a3ed8507925488a7ce8d5f6ab13886f48">getOdometry</a> (<a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">poses::CPose2D</a> &out_odom)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the current robot's odometry. <a href="#a3ed8507925488a7ce8d5f6ab13886f48"></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_activ_media_robot_base.html#a4f25edca9fb9071d39f4e66e3be15469">getOdometryFull</a> (<a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">poses::CPose2D</a> &out_odom, double &out_lin_vel, double &out_ang_vel, int64_t &out_left_encoder_ticks, int64_t &out_right_encoder_ticks)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the current robot's odometry. <a href="#a4f25edca9fb9071d39f4e66e3be15469"></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_activ_media_robot_base.html#a16dd19b5d3e8ec2e6c9ff01df4a810d4">getOdometryIncrement</a> (<a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">poses::CPose2D</a> &out_incr_odom, double &out_lin_vel, double &out_ang_vel, int64_t &out_incr_left_encoder_ticks, int64_t &out_incr_right_encoder_ticks)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the robot's odometry increment since the last call to this method (the first time the increments are always fixed to zero). <a href="#a16dd19b5d3e8ec2e6c9ff01df4a810d4"></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_activ_media_robot_base.html#ab077e59d85b4273834b1e6e81d76b68f">getSonarsReadings</a> (bool &thereIsObservation, <a class="el" href="classmrpt_1_1slam_1_1_c_observation_range.html">mrpt::slam::CObservationRange</a> &obs)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the readings from the sonars, only if the observations are new. <a href="#ab077e59d85b4273834b1e6e81d76b68f"></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_activ_media_robot_base.html#aaa8adccf2f356555e9f9210c410faf52">getBatteryCharge</a> (double &out_batery_volts)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the robot battery charge. <a href="#aaa8adccf2f356555e9f9210c410faf52"></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_activ_media_robot_base.html#aacb648d4c92b9e4e7a94978b7d021958">setVelocities</a> (const double lin_vel, const double ang_vel)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set the robot linear and angular velocities. <a href="#aacb648d4c92b9e4e7a94978b7d021958"></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_activ_media_robot_base.html#a764b26aaf1e37c326314c35ce16c682e">enableSonars</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Enable sonars. <a href="#a764b26aaf1e37c326314c35ce16c682e"></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_activ_media_robot_base.html#ab7cfdbee805023ff8b9a60e82f23a086">disableSonars</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Disable sonars. <a href="#ab7cfdbee805023ff8b9a60e82f23a086"></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_activ_media_robot_base.html#a520f0d01fed0239891264ff8b0e5d565">getBumpers</a> (<a class="el" href="namespacemrpt.html#a9fdb3cc3f73c5190fa022f858efbe6b1">vector_bool</a> &bumper_state)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get state of bumpers: at output, the vector will be resized to the number of bumpers, and elements with "true" means bumper is pressed. <a href="#a520f0d01fed0239891264ff8b0e5d565"></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_activ_media_robot_base.html#a3e2f61e9ffd9fce1a6bdafdd6247d6f2">getRobotInformation</a> (<a class="el" href="structmrpt_1_1hwdrivers_1_1_c_activ_media_robot_base_1_1_t_robot_description.html">TRobotDescription</a> &info)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get information about the robot and its sensors. <a href="#a3e2f61e9ffd9fce1a6bdafdd6247d6f2"></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_activ_media_robot_base.html#a735a0aab4c2910c98a724abbf28a9bda">enableJoystickControl</a> (bool enable=true)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Enable/disable manual control of the robot with a Joystick. <a href="#a735a0aab4c2910c98a724abbf28a9bda"></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_activ_media_robot_base.html#af71054440e57cdb3b0f04d5dcc4dfc92">isJoystickControlEnabled</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get state of manual control with a joystick. <a href="#af71054440e57cdb3b0f04d5dcc4dfc92"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual const <br class="typebreak"/>
<a class="el" href="structmrpt_1_1hwdrivers_1_1_t_sensor_class_id.html">mrpt::hwdrivers::TSensorClassId</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#afbc26c93b989d1a0cc94c0c88d47cdba">GetRuntimeClass</a> () const =0</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a44262a8f1ffcc87871fbd717d3fc2cab">TSensorState</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a0bd667caedc6a313d96c232bf75ba577">getState</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The current state of the sensor. <a href="#a0bd667caedc6a313d96c232bf75ba577"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a8a05c268aef7ecada94a0014a2b294f7">getProcessRate</a> () const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classstd_1_1string.html">std::string</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#af3cd061ca684e7ddf5949ed78fced7c9">getSensorLabel</a> () const </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_generic_sensor.html#a044c1340c4b90957250f63fa89189036">setSensorLabel</a> (const <a class="el" href="classstd_1_1string.html">std::string</a> &sensorLabel)</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_generic_sensor.html#a6f34c5b79a128d1cb6b47eaa987ecb51">loadConfig</a> (const <a class="el" href="classmrpt_1_1utils_1_1_c_config_file_base.html">mrpt::utils::CConfigFileBase</a> &configSource, const <a class="el" href="classstd_1_1string.html">std::string</a> &section)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Loads the generic settings common to any sensor (See <a class="el" 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>), then call to "loadConfig_sensorSpecific" </p>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname">This</td><td>method throws an exception with a descriptive message if some critical parameter is missing or has an invalid value. </td></tr>
</table>
</dd>
</dl>
<a href="#a6f34c5b79a128d1cb6b47eaa987ecb51"></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_generic_sensor.html#a34b2a73792cbe176b28c932646bba0ed">getObservations</a> (<a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#af237beee1de7f3e5733e305921695b30">TListObservations</a> &lstObjects)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns a list of enqueued objects, emptying it (thread-safe). <a href="#a34b2a73792cbe176b28c932646bba0ed"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#afa55ff06dbf360c8f631d371d6ebe35d">setPathForExternalImages</a> (const <a class="el" href="classstd_1_1string.html">std::string</a> &directory)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set the path where to save off-rawlog image files (will be ignored in those sensors where this is not applicable). <a href="#afa55ff06dbf360c8f631d371d6ebe35d"></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_generic_sensor.html#aff4b208b901763557196b9326901c582">setExternalImageFormat</a> (const <a class="el" href="classstd_1_1string.html">std::string</a> &ext)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set the extension ("jpg","gif","png",...) that determines the format of images saved externally The default is "jpg". <a href="#aff4b208b901763557196b9326901c582"></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_generic_sensor.html#aca05f7ee991ee112b5e9f8f289a9ee94">setExternalImageJPEGQuality</a> (const unsigned int quality)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The quality of JPEG compression, when external images is enabled and the format is "jpg". <a href="#aca05f7ee991ee112b5e9f8f289a9ee94"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">unsigned int </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a9d5aecec9f302feede271c9f1425a323">getExternalImageJPEGQuality</a> () const </td></tr>
<tr><td colspan="2"><h2><a name="pub-static-methods"></a>
Static Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a640e1b953865c3d2e881bbd2c1a81428">registerClass</a> (const <a class="el" href="structmrpt_1_1hwdrivers_1_1_t_sensor_class_id.html">TSensorClassId</a> *pNewClass)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Register a class into the internal list of "CGenericSensor" descendents. <a href="#a640e1b953865c3d2e881bbd2c1a81428"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html">CGenericSensor</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#ab652d017225fff3050a607f4461b0484">createSensor</a> (const <a class="el" href="classstd_1_1string.html">std::string</a> &className)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Creates a sensor by a name of the class. <a href="#ab652d017225fff3050a607f4461b0484"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static <a class="el" href="namespacemrpt_1_1hwdrivers.html#a71aef48ea8dd23e43c706cc1a3ae0e74">CGenericSensorPtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#aff4e4450e420bf60a2487ab0cff91907">createSensorPtr</a> (const <a class="el" href="classstd_1_1string.html">std::string</a> &className)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Just like createSensor, but returning a smart pointer to the newly created sensor object. <a href="#aff4e4450e420bf60a2487ab0cff91907"></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_activ_media_robot_base.html#ae7fcb95502c8ff318c6db7298e966778">disconnectAndDisableMotors</a> ()</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_activ_media_robot_base.html#a55d2047f99c75917c77166b594310a11">connectAndEnableMotors</a> ()</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_activ_media_robot_base.html#a4fc185a6ed79faedd35c213e33de6c48">loadConfig_sensorSpecific</a> (const <a class="el" href="classmrpt_1_1utils_1_1_c_config_file_base.html">mrpt::utils::CConfigFileBase</a> &configSource, const <a class="el" href="classstd_1_1string.html">std::string</a> &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 <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_activ_media_robot_base.html" title="This software driver implements the communications (and some rudimentary control) for ActivMedia robo...">hwdrivers::CActivMediaRobotBase</a> for the possible parameters. <a href="#a4fc185a6ed79faedd35c213e33de6c48"></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_generic_sensor.html#ad3a33098f257c379ee6bd1bca24e45f9">appendObservations</a> (const <a class="el" href="classstd_1_1vector.html">std::vector</a>< <a class="el" href="structmrpt_1_1utils_1_1_c_serializable_ptr.html">mrpt::utils::CSerializablePtr</a> > &obj)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">This method must be called by derived classes to enqueue a new observation in the list to be returned by getObservations. <a href="#ad3a33098f257c379ee6bd1bca24e45f9"></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_generic_sensor.html#a03bf6784838d6418f4fe485933a1ab0c">appendObservation</a> (const <a class="el" href="structmrpt_1_1utils_1_1_c_serializable_ptr.html">mrpt::utils::CSerializablePtr</a> &obj)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Like <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#ad3a33098f257c379ee6bd1bca24e45f9" title="This method must be called by derived classes to enqueue a new observation in the list to be returned...">appendObservations()</a> but for just one observation. <a href="#a03bf6784838d6418f4fe485933a1ab0c"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pro-attribs"></a>
Protected Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classstd_1_1string.html">std::string</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_activ_media_robot_base.html#acb026dec816f34cfa885b6be2d370edd">m_com_port</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The serial port name to use for communications (COM1, ttyS1,...) <a href="#acb026dec816f34cfa885b6be2d370edd"></a><br/></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_activ_media_robot_base.html#abca15155fe7176aedaf278367af81e4c">m_robotBaud</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The bauds for ARIA communications to the robot. <a href="#abca15155fe7176aedaf278367af81e4c"></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_activ_media_robot_base.html#adf151afb9e0461cc1967eed3c4340f70">m_firstIncreOdometry</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Used in getOdometryIncrement. <a href="#adf151afb9e0461cc1967eed3c4340f70"></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_activ_media_robot_base.html#ac6c6b5249d27991c238c5c69fa8337da">m_enableSonars</a></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_activ_media_robot_base.html#a6464aec511d89ad703ec072ecf5e0c9a">m_robot</a></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_activ_media_robot_base.html#abb28af6b037d0f65c0f2a08187707448">m_sonarDev</a></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_activ_media_robot_base.html#a9947c548116acd08ef95bbfac03298d8">m_simpleConnector</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The connection to the robot. <a href="#a9947c548116acd08ef95bbfac03298d8"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">unsigned int </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_activ_media_robot_base.html#ae83316aae98324cfea62d4a2af48b964">m_lastTimeSonars</a></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_activ_media_robot_base.html#aa25f9791eb1e82059bedec25fb81aa00">m_enableJoyControl</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">For use with rawlog-grabber. <a href="#aa25f9791eb1e82059bedec25fb81aa00"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_activ_media_robot_base.html#a0edfa29f32833b8b6be41bd1f3a00409">m_joy_max_v</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_activ_media_robot_base.html#a0b15eac7bbceeb67ca88e14b74c8ff73">m_joy_max_w</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_joystick.html">CJoystick</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_activ_media_robot_base.html#a44ea0e8a98d5820034bd22996fa65d0e">m_joystick</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The joystick opened at first usage. <a href="#a44ea0e8a98d5820034bd22996fa65d0e"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__time__date.html#ga42674286d8d56afea013b6329bb7327a">mrpt::system::TTimeStamp</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_activ_media_robot_base.html#aad4e5555e7188fcdef33d60db294f138">m_last_do_process</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_activ_media_robot_base.html#a88aa6698022863c91537b228aadb7206">m_capture_rate</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">In Hz, the rate at which sonars & odometry are gathered (default=10Hz) <a href="#a88aa6698022863c91537b228aadb7206"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">size_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a564a6c2bc7f1baaea9a9d90112a7b376">m_grab_decimation_counter</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Used when "m_grab_decimation" is enabled. <a href="#a564a6c2bc7f1baaea9a9d90112a7b376"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a44262a8f1ffcc87871fbd717d3fc2cab">TSensorState</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#ab3e8a003783acd03bfd64716640fd67c">m_state</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classstd_1_1string.html">std::string</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a06fe84426b813b9c1966c12bb69e6ee6">m_path_for_external_images</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The path where to save off-rawlog images: empty means save images embedded in the rawlog. <a href="#a06fe84426b813b9c1966c12bb69e6ee6"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classstd_1_1string.html">std::string</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a7d153c5247b0180b6b9df5054d67b183">m_external_images_format</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The extension ("jpg","gif","png",...) that determines the format of images saved externally. <a href="#a7d153c5247b0180b6b9df5054d67b183"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">unsigned int </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#aeac331931fce4890793cd7f1b5f6eb3e">m_external_images_jpeg_quality</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">For JPEG images, the quality (default=95%). <a href="#aeac331931fce4890793cd7f1b5f6eb3e"></a><br/></td></tr>
<tr><td colspan="2"><div class="groupHeader">Common settings to any sensor, loaded in "loadConfig"</div></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a77094b791971e8f42b94de34f4adb0f7">m_process_rate</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">See <a class="el" 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 href="#a77094b791971e8f42b94de34f4adb0f7"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">size_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a6f35448579bd4d27cd4f4685b31a8cc0">m_max_queue_len</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">See <a class="el" 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 href="#a6f35448579bd4d27cd4f4685b31a8cc0"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">size_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a587daaab2cb302eb4cc72eb1396d5f21">m_grab_decimation</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">If set to N>=2, only 1 out of N observations will be saved to m_objList. <a href="#a587daaab2cb302eb4cc72eb1396d5f21"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classstd_1_1string.html">std::string</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#accd4de8daeb5966c191fbc62a5d90355">m_sensorLabel</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">See <a class="el" 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 href="#accd4de8daeb5966c191fbc62a5d90355"></a><br/></td></tr>
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<hr/><h2>Member Typedef Documentation</h2>
<a class="anchor" id="af237beee1de7f3e5733e305921695b30"></a><!-- doxytag: member="mrpt::hwdrivers::CActivMediaRobotBase::TListObservations" ref="af237beee1de7f3e5733e305921695b30" args="" -->
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<td class="memname">typedef <a class="el" href="classstd_1_1multimap.html">std::multimap</a>< <a class="el" href="group__time__date.html#ga42674286d8d56afea013b6329bb7327a">mrpt::system::TTimeStamp</a>, <a class="el" href="structmrpt_1_1utils_1_1_c_serializable_ptr.html">mrpt::utils::CSerializablePtr</a> > <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#af237beee1de7f3e5733e305921695b30">mrpt::hwdrivers::CGenericSensor::TListObservations</a><code> [inherited]</code></td>
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<p>Definition at line <a class="el" href="_c_generic_sensor_8h_source.html#l00084">84</a> of file <a class="el" href="_c_generic_sensor_8h_source.html">CGenericSensor.h</a>.</p>
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<td class="memname">typedef std::pair< <a class="el" href="group__time__date.html#ga42674286d8d56afea013b6329bb7327a">mrpt::system::TTimeStamp</a>, <a class="el" href="structmrpt_1_1utils_1_1_c_serializable_ptr.html">mrpt::utils::CSerializablePtr</a> > <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a78712e0c40c510978fb8589774056ab3">mrpt::hwdrivers::CGenericSensor::TListObsPair</a><code> [inherited]</code></td>
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<p>Definition at line <a class="el" href="_c_generic_sensor_8h_source.html#l00085">85</a> of file <a class="el" href="_c_generic_sensor_8h_source.html">CGenericSensor.h</a>.</p>
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<hr/><h2>Member Enumeration Documentation</h2>
<a class="anchor" id="a44262a8f1ffcc87871fbd717d3fc2cab"></a><!-- doxytag: member="mrpt::hwdrivers::CActivMediaRobotBase::TSensorState" ref="a44262a8f1ffcc87871fbd717d3fc2cab" args="" -->
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<td class="memname">enum <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a44262a8f1ffcc87871fbd717d3fc2cab">mrpt::hwdrivers::CGenericSensor::TSensorState</a><code> [inherited]</code></td>
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<p>The current state of the sensor. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a0bd667caedc6a313d96c232bf75ba577" title="The current state of the sensor.">CGenericSensor::getState</a> </dd></dl>
<dl><dt><b>Enumerator: </b></dt><dd><table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"><em><a class="anchor" id="a44262a8f1ffcc87871fbd717d3fc2caba0e2689514dd41d48164e021013549a44"></a><!-- doxytag: member="ssInitializing" ref="a44262a8f1ffcc87871fbd717d3fc2caba0e2689514dd41d48164e021013549a44" args="" -->ssInitializing</em> </td><td>
</td></tr>
<tr><td valign="top"><em><a class="anchor" id="a44262a8f1ffcc87871fbd717d3fc2cabaacc62e94572e3cd3b4b08caad173a489"></a><!-- doxytag: member="ssWorking" ref="a44262a8f1ffcc87871fbd717d3fc2cabaacc62e94572e3cd3b4b08caad173a489" args="" -->ssWorking</em> </td><td>
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<tr><td valign="top"><em><a class="anchor" id="a44262a8f1ffcc87871fbd717d3fc2caba8f76c8318736df85b6805ca460f8d262"></a><!-- doxytag: member="ssError" ref="a44262a8f1ffcc87871fbd717d3fc2caba8f76c8318736df85b6805ca460f8d262" args="" -->ssError</em> </td><td>
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<p>Definition at line <a class="el" href="_c_generic_sensor_8h_source.html#l00090">90</a> of file <a class="el" href="_c_generic_sensor_8h_source.html">CGenericSensor.h</a>.</p>
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<hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="abda6f867f431f43da549f0b002c1a780"></a><!-- doxytag: member="mrpt::hwdrivers::CActivMediaRobotBase::CActivMediaRobotBase" ref="abda6f867f431f43da549f0b002c1a780" args="()" -->
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<td class="memname">mrpt::hwdrivers::CActivMediaRobotBase::CActivMediaRobotBase </td>
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<p>Constructor. </p>
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<a class="anchor" id="afd2a80ec5f9ae20d0c2be72379744593"></a><!-- doxytag: member="mrpt::hwdrivers::CActivMediaRobotBase::~CActivMediaRobotBase" ref="afd2a80ec5f9ae20d0c2be72379744593" args="()" -->
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<td class="memname">virtual mrpt::hwdrivers::CActivMediaRobotBase::~CActivMediaRobotBase </td>
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<td class="paramname"></td><td>)</td>
<td><code> [virtual]</code></td>
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<p>Destructor: turns off communications. </p>
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<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="a03bf6784838d6418f4fe485933a1ab0c"></a><!-- doxytag: member="mrpt::hwdrivers::CActivMediaRobotBase::appendObservation" ref="a03bf6784838d6418f4fe485933a1ab0c" args="(const mrpt::utils::CSerializablePtr &obj)" -->
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<td class="memname">void mrpt::hwdrivers::CGenericSensor::appendObservation </td>
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<td class="paramtype">const <a class="el" href="structmrpt_1_1utils_1_1_c_serializable_ptr.html">mrpt::utils::CSerializablePtr</a> & </td>
<td class="paramname"><em>obj</em></td><td>)</td>
<td><code> [inline, protected, inherited]</code></td>
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<p>Like <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#ad3a33098f257c379ee6bd1bca24e45f9" title="This method must be called by derived classes to enqueue a new observation in the list to be returned...">appendObservations()</a> but for just one observation. </p>
<p>Definition at line <a class="el" href="_c_generic_sensor_8h_source.html#l00155">155</a> of file <a class="el" href="_c_generic_sensor_8h_source.html">CGenericSensor.h</a>.</p>
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<a class="anchor" id="ad3a33098f257c379ee6bd1bca24e45f9"></a><!-- doxytag: member="mrpt::hwdrivers::CActivMediaRobotBase::appendObservations" ref="ad3a33098f257c379ee6bd1bca24e45f9" args="(const std::vector< mrpt::utils::CSerializablePtr > &obj)" -->
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<td class="memname">void mrpt::hwdrivers::CGenericSensor::appendObservations </td>
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<td class="paramtype">const <a class="el" href="classstd_1_1vector.html">std::vector</a>< <a class="el" href="structmrpt_1_1utils_1_1_c_serializable_ptr.html">mrpt::utils::CSerializablePtr</a> > & </td>
<td class="paramname"><em>obj</em></td><td>)</td>
<td><code> [protected, inherited]</code></td>
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<p>This method must be called by derived classes to enqueue a new observation in the list to be returned by getObservations. </p>
<p>Passed objects must be created in dynamic memory and a smart pointer passed. Example of creation: </p>
<div class="fragment"><pre class="fragment"> CObservationGPSPtr o = CObservationGPSPtr( <span class="keyword">new</span> CObservationGPS() );
o-> .... <span class="comment">// Set data</span>
<a class="code" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a03bf6784838d6418f4fe485933a1ab0c" title="Like appendObservations() but for just one observation.">appendObservation</a>(o);
</pre></div><p> If several observations are passed at once in the vector, they'll be considered as a block regarding the grabbing decimation factor. </p>
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<a class="anchor" id="a12a1e5928e0048a7363a362ad1c2ff85"></a><!-- doxytag: member="mrpt::hwdrivers::CActivMediaRobotBase::changeOdometry" ref="a12a1e5928e0048a7363a362ad1c2ff85" args="(const mrpt::poses::CPose2D &newOdometry)" -->
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<td class="memname">void mrpt::hwdrivers::CActivMediaRobotBase::changeOdometry </td>
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<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">mrpt::poses::CPose2D</a> & </td>
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<p>Change the current robot odometry pose. </p>
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<a class="anchor" id="a55d2047f99c75917c77166b594310a11"></a><!-- doxytag: member="mrpt::hwdrivers::CActivMediaRobotBase::connectAndEnableMotors" ref="a55d2047f99c75917c77166b594310a11" args="()" -->
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<td class="memname">void mrpt::hwdrivers::CActivMediaRobotBase::connectAndEnableMotors </td>
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<td class="paramname"></td><td>)</td>
<td><code> [protected]</code></td>
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<a class="anchor" id="ab652d017225fff3050a607f4461b0484"></a><!-- doxytag: member="mrpt::hwdrivers::CActivMediaRobotBase::createSensor" ref="ab652d017225fff3050a607f4461b0484" args="(const std::string &className)" -->
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<td class="memname">static <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html">CGenericSensor</a>* mrpt::hwdrivers::CGenericSensor::createSensor </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classstd_1_1string.html">std::string</a> & </td>
<td class="paramname"><em>className</em></td><td>)</td>
<td><code> [static, inherited]</code></td>
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<p>Creates a sensor by a name of the class. </p>
<p>Typically the user may want to create a smart pointer around the returned pointer, whis is made with: </p>
<div class="fragment"><pre class="fragment"> <a class="code" href="namespacemrpt_1_1hwdrivers.html#a71aef48ea8dd23e43c706cc1a3ae0e74">CGenericSensorPtr</a> sensor = <a class="code" href="namespacemrpt_1_1hwdrivers.html#a71aef48ea8dd23e43c706cc1a3ae0e74">CGenericSensorPtr</a>( <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#ab652d017225fff3050a607f4461b0484" title="Creates a sensor by a name of the class.">CGenericSensor::createSensor</a>(<span class="stringliteral">"XXX"</span>) );
</pre></div> <dl class="return"><dt><b>Returns:</b></dt><dd>A pointer to a new class, or NULL if class name is unknown. </dd></dl>
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<a class="anchor" id="aff4e4450e420bf60a2487ab0cff91907"></a><!-- doxytag: member="mrpt::hwdrivers::CActivMediaRobotBase::createSensorPtr" ref="aff4e4450e420bf60a2487ab0cff91907" args="(const std::string &className)" -->
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<td class="memname">static <a class="el" href="namespacemrpt_1_1hwdrivers.html#a71aef48ea8dd23e43c706cc1a3ae0e74">CGenericSensorPtr</a> mrpt::hwdrivers::CGenericSensor::createSensorPtr </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classstd_1_1string.html">std::string</a> & </td>
<td class="paramname"><em>className</em></td><td>)</td>
<td><code> [inline, static, inherited]</code></td>
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<p>Just like createSensor, but returning a smart pointer to the newly created sensor object. </p>
<p>Definition at line <a class="el" href="_c_generic_sensor_8h_source.html#l00188">188</a> of file <a class="el" href="_c_generic_sensor_8h_source.html">CGenericSensor.h</a>.</p>
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<a class="anchor" id="ab7cfdbee805023ff8b9a60e82f23a086"></a><!-- doxytag: member="mrpt::hwdrivers::CActivMediaRobotBase::disableSonars" ref="ab7cfdbee805023ff8b9a60e82f23a086" args="()" -->
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<td class="memname">void mrpt::hwdrivers::CActivMediaRobotBase::disableSonars </td>
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<p>Disable sonars. </p>
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<a class="anchor" id="ae7fcb95502c8ff318c6db7298e966778"></a><!-- doxytag: member="mrpt::hwdrivers::CActivMediaRobotBase::disconnectAndDisableMotors" ref="ae7fcb95502c8ff318c6db7298e966778" args="()" -->
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<td class="memname">void mrpt::hwdrivers::CActivMediaRobotBase::disconnectAndDisableMotors </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [protected]</code></td>
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<a class="anchor" id="aafd30144d98061b4fa2b7bc446a7407a"></a><!-- doxytag: member="mrpt::hwdrivers::CActivMediaRobotBase::doProcess" ref="aafd30144d98061b4fa2b7bc446a7407a" args="()" -->
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<td class="memname">void mrpt::hwdrivers::CActivMediaRobotBase::doProcess </td>
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<td><code> [virtual]</code></td>
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<p>Collect odometry readings and put them in the "observations" queue: DO NOT call this normally, it's useful only for the application rawloggrabber. </p>
<p>Implements <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a4f02ae5d7a345819f2521f72b633ab51">mrpt::hwdrivers::CGenericSensor</a>.</p>
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<a class="anchor" id="a735a0aab4c2910c98a724abbf28a9bda"></a><!-- doxytag: member="mrpt::hwdrivers::CActivMediaRobotBase::enableJoystickControl" ref="a735a0aab4c2910c98a724abbf28a9bda" args="(bool enable=true)" -->
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<td class="memname">void mrpt::hwdrivers::CActivMediaRobotBase::enableJoystickControl </td>
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<td class="paramtype">bool </td>
<td class="paramname"><em>enable</em> = <code>true</code></td><td>)</td>
<td><code> [inline]</code></td>
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<p>Enable/disable manual control of the robot with a Joystick. </p>
<p>Definition at line <a class="el" href="_c_activ_media_robot_base_8h_source.html#l00185">185</a> of file <a class="el" href="_c_activ_media_robot_base_8h_source.html">CActivMediaRobotBase.h</a>.</p>
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<a class="anchor" id="a764b26aaf1e37c326314c35ce16c682e"></a><!-- doxytag: member="mrpt::hwdrivers::CActivMediaRobotBase::enableSonars" ref="a764b26aaf1e37c326314c35ce16c682e" args="()" -->
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<p>Enable sonars. </p>
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<a class="anchor" id="aaa8adccf2f356555e9f9210c410faf52"></a><!-- doxytag: member="mrpt::hwdrivers::CActivMediaRobotBase::getBatteryCharge" ref="aaa8adccf2f356555e9f9210c410faf52" args="(double &out_batery_volts)" -->
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<p>Get the robot battery charge. </p>
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<a class="anchor" id="a520f0d01fed0239891264ff8b0e5d565"></a><!-- doxytag: member="mrpt::hwdrivers::CActivMediaRobotBase::getBumpers" ref="a520f0d01fed0239891264ff8b0e5d565" args="(vector_bool &bumper_state)" -->
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<td class="paramtype"><a class="el" href="namespacemrpt.html#a9fdb3cc3f73c5190fa022f858efbe6b1">vector_bool</a> & </td>
<td class="paramname"><em>bumper_state</em></td><td>)</td>
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<p>Get state of bumpers: at output, the vector will be resized to the number of bumpers, and elements with "true" means bumper is pressed. </p>
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<a class="anchor" id="a9d5aecec9f302feede271c9f1425a323"></a><!-- doxytag: member="mrpt::hwdrivers::CActivMediaRobotBase::getExternalImageJPEGQuality" ref="a9d5aecec9f302feede271c9f1425a323" args="() const " -->
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<td class="memname">unsigned int mrpt::hwdrivers::CGenericSensor::getExternalImageJPEGQuality </td>
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<p>Definition at line <a class="el" href="_c_generic_sensor_8h_source.html#l00241">241</a> of file <a class="el" href="_c_generic_sensor_8h_source.html">CGenericSensor.h</a>.</p>
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<a class="anchor" id="a34b2a73792cbe176b28c932646bba0ed"></a><!-- doxytag: member="mrpt::hwdrivers::CActivMediaRobotBase::getObservations" ref="a34b2a73792cbe176b28c932646bba0ed" args="(TListObservations &lstObjects)" -->
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<td class="paramtype"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#af237beee1de7f3e5733e305921695b30">TListObservations</a> & </td>
<td class="paramname"><em>lstObjects</em></td><td>)</td>
<td><code> [inherited]</code></td>
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<p>Returns a list of enqueued objects, emptying it (thread-safe). </p>
<p>The objects must be freed by the invoker. </p>
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<a class="anchor" id="a3ed8507925488a7ce8d5f6ab13886f48"></a><!-- doxytag: member="mrpt::hwdrivers::CActivMediaRobotBase::getOdometry" ref="a3ed8507925488a7ce8d5f6ab13886f48" args="(poses::CPose2D &out_odom)" -->
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<td class="paramtype"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">poses::CPose2D</a> & </td>
<td class="paramname"><em>out_odom</em></td><td>)</td>
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<p>Get the current robot's odometry. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">out_odom</td><td>The odometry will be returned here. </td></tr>
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<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_activ_media_robot_base.html#a4f25edca9fb9071d39f4e66e3be15469" title="Get the current robot's odometry.">getOdometryFull</a>, <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_activ_media_robot_base.html#a16dd19b5d3e8ec2e6c9ff01df4a810d4" title="Get the robot's odometry increment since the last call to this method (the first time the increments ...">getOdometryIncrement</a> </dd></dl>
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<a class="anchor" id="a4f25edca9fb9071d39f4e66e3be15469"></a><!-- doxytag: member="mrpt::hwdrivers::CActivMediaRobotBase::getOdometryFull" ref="a4f25edca9fb9071d39f4e66e3be15469" args="(poses::CPose2D &out_odom, double &out_lin_vel, double &out_ang_vel, int64_t &out_left_encoder_ticks, int64_t &out_right_encoder_ticks)" -->
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<td>(</td>
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<td class="paramtype">double & </td>
<td class="paramname"><em>out_ang_vel</em>, </td>
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<td class="paramname"><em>out_left_encoder_ticks</em>, </td>
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<p>Get the current robot's odometry. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">out_odom</td><td>The odometry will be returned here. </td></tr>
<tr><td class="paramname">out_lin_vel</td><td>The linear speed, in m/s, positive is forward. </td></tr>
<tr><td class="paramname">out_ang_vel</td><td>The angular speed, in rad/s, positive is anticlockwise. </td></tr>
<tr><td class="paramname">out_left_encoder_ticks</td><td>The current overall count of ticks for the left wheel encoder. </td></tr>
<tr><td class="paramname">out_right_encoder_ticks</td><td>The current overall count of ticks for the right wheel encoder. </td></tr>
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</dd>
</dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_activ_media_robot_base.html#a3ed8507925488a7ce8d5f6ab13886f48" title="Get the current robot's odometry.">getOdometry</a>, <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_activ_media_robot_base.html#a16dd19b5d3e8ec2e6c9ff01df4a810d4" title="Get the robot's odometry increment since the last call to this method (the first time the increments ...">getOdometryIncrement</a> </dd></dl>
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<a class="anchor" id="a16dd19b5d3e8ec2e6c9ff01df4a810d4"></a><!-- doxytag: member="mrpt::hwdrivers::CActivMediaRobotBase::getOdometryIncrement" ref="a16dd19b5d3e8ec2e6c9ff01df4a810d4" args="(poses::CPose2D &out_incr_odom, double &out_lin_vel, double &out_ang_vel, int64_t &out_incr_left_encoder_ticks, int64_t &out_incr_right_encoder_ticks)" -->
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<td class="memname">void mrpt::hwdrivers::CActivMediaRobotBase::getOdometryIncrement </td>
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<td class="paramtype"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">poses::CPose2D</a> & </td>
<td class="paramname"><em>out_incr_odom</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">double & </td>
<td class="paramname"><em>out_lin_vel</em>, </td>
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<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double & </td>
<td class="paramname"><em>out_ang_vel</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int64_t & </td>
<td class="paramname"><em>out_incr_left_encoder_ticks</em>, </td>
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<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int64_t & </td>
<td class="paramname"><em>out_incr_right_encoder_ticks</em> </td>
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<p>Get the robot's odometry increment since the last call to this method (the first time the increments are always fixed to zero). </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">out_odom</td><td>The odometry increment. </td></tr>
<tr><td class="paramname">out_lin_vel</td><td>The current linear speed, in m/s, positive is forward (Absolute values, not increments) </td></tr>
<tr><td class="paramname">out_ang_vel</td><td>The angular speed, in rad/s, positive is anticlockwise (Absolute values, not increments). </td></tr>
<tr><td class="paramname">out_left_encoder_ticks</td><td>The increment in ticks for the left wheel encoder. </td></tr>
<tr><td class="paramname">out_right_encoder_ticks</td><td>The increment in ticks for the right wheel encoder. </td></tr>
</table>
</dd>
</dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_activ_media_robot_base.html#a3ed8507925488a7ce8d5f6ab13886f48" title="Get the current robot's odometry.">getOdometry</a>, <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_activ_media_robot_base.html#a4f25edca9fb9071d39f4e66e3be15469" title="Get the current robot's odometry.">getOdometryFull</a> </dd></dl>
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<a class="anchor" id="a8a05c268aef7ecada94a0014a2b294f7"></a><!-- doxytag: member="mrpt::hwdrivers::CActivMediaRobotBase::getProcessRate" ref="a8a05c268aef7ecada94a0014a2b294f7" args="() const " -->
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<td class="memname">double mrpt::hwdrivers::CGenericSensor::getProcessRate </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td> const<code> [inline, inherited]</code></td>
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<p>Definition at line <a class="el" href="_c_generic_sensor_8h_source.html#l00100">100</a> of file <a class="el" href="_c_generic_sensor_8h_source.html">CGenericSensor.h</a>.</p>
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<a class="anchor" id="a3e2f61e9ffd9fce1a6bdafdd6247d6f2"></a><!-- doxytag: member="mrpt::hwdrivers::CActivMediaRobotBase::getRobotInformation" ref="a3e2f61e9ffd9fce1a6bdafdd6247d6f2" args="(TRobotDescription &info)" -->
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<td class="memname">void mrpt::hwdrivers::CActivMediaRobotBase::getRobotInformation </td>
<td>(</td>
<td class="paramtype"><a class="el" href="structmrpt_1_1hwdrivers_1_1_c_activ_media_robot_base_1_1_t_robot_description.html">TRobotDescription</a> & </td>
<td class="paramname"><em>info</em></td><td>)</td>
<td></td>
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<p>Get information about the robot and its sensors. </p>
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<a class="anchor" id="afbc26c93b989d1a0cc94c0c88d47cdba"></a><!-- doxytag: member="mrpt::hwdrivers::CActivMediaRobotBase::GetRuntimeClass" ref="afbc26c93b989d1a0cc94c0c88d47cdba" args="() const =0" -->
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<td class="memname">virtual const <a class="el" href="structmrpt_1_1hwdrivers_1_1_t_sensor_class_id.html">mrpt::hwdrivers::TSensorClassId</a>* mrpt::hwdrivers::CGenericSensor::GetRuntimeClass </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td> const<code> [pure virtual, inherited]</code></td>
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</div>
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<a class="anchor" id="af3cd061ca684e7ddf5949ed78fced7c9"></a><!-- doxytag: member="mrpt::hwdrivers::CActivMediaRobotBase::getSensorLabel" ref="af3cd061ca684e7ddf5949ed78fced7c9" args="() const " -->
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<td class="memname"><a class="el" href="classstd_1_1string.html">std::string</a> mrpt::hwdrivers::CGenericSensor::getSensorLabel </td>
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<td class="paramname"></td><td>)</td>
<td> const<code> [inline, inherited]</code></td>
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<p>Definition at line <a class="el" href="_c_generic_sensor_8h_source.html#l00102">102</a> of file <a class="el" href="_c_generic_sensor_8h_source.html">CGenericSensor.h</a>.</p>
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<a class="anchor" id="a18af3de8aab272b138696632410f83e2"></a><!-- doxytag: member="mrpt::hwdrivers::CActivMediaRobotBase::getSerialPort" ref="a18af3de8aab272b138696632410f83e2" args="() const " -->
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<td class="memname"><a class="el" href="classstd_1_1string.html">std::string</a> mrpt::hwdrivers::CActivMediaRobotBase::getSerialPort </td>
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<td class="paramname"></td><td>)</td>
<td> const<code> [inline]</code></td>
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<p>Returns the current value of the serial port. </p>
<p>Definition at line <a class="el" href="_c_activ_media_robot_base_8h_source.html#l00111">111</a> of file <a class="el" href="_c_activ_media_robot_base_8h_source.html">CActivMediaRobotBase.h</a>.</p>
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<a class="anchor" id="a6ae2710131e6368d4a3eda28dce3953d"></a><!-- doxytag: member="mrpt::hwdrivers::CActivMediaRobotBase::getSerialPortBaudRate" ref="a6ae2710131e6368d4a3eda28dce3953d" args="() const " -->
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<td class="memname">int mrpt::hwdrivers::CActivMediaRobotBase::getSerialPortBaudRate </td>
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<td> const<code> [inline]</code></td>
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<p>Returns the current value of the serial port baudrate. </p>
<p>Definition at line <a class="el" href="_c_activ_media_robot_base_8h_source.html#l00114">114</a> of file <a class="el" href="_c_activ_media_robot_base_8h_source.html">CActivMediaRobotBase.h</a>.</p>
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<a class="anchor" id="ab077e59d85b4273834b1e6e81d76b68f"></a><!-- doxytag: member="mrpt::hwdrivers::CActivMediaRobotBase::getSonarsReadings" ref="ab077e59d85b4273834b1e6e81d76b68f" args="(bool &thereIsObservation, mrpt::slam::CObservationRange &obs)" -->
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<td class="memname">void mrpt::hwdrivers::CActivMediaRobotBase::getSonarsReadings </td>
<td>(</td>
<td class="paramtype">bool & </td>
<td class="paramname"><em>thereIsObservation</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="classmrpt_1_1slam_1_1_c_observation_range.html">mrpt::slam::CObservationRange</a> & </td>
<td class="paramname"><em>obs</em> </td>
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<td>)</td>
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<p>Get the readings from the sonars, only if the observations are new. </p>
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<a class="anchor" id="a0bd667caedc6a313d96c232bf75ba577"></a><!-- doxytag: member="mrpt::hwdrivers::CActivMediaRobotBase::getState" ref="a0bd667caedc6a313d96c232bf75ba577" args="() const " -->
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<td class="memname"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a44262a8f1ffcc87871fbd717d3fc2cab">TSensorState</a> mrpt::hwdrivers::CGenericSensor::getState </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td> const<code> [inline, inherited]</code></td>
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<p>The current state of the sensor. </p>
<p>Definition at line <a class="el" href="_c_generic_sensor_8h_source.html#l00098">98</a> of file <a class="el" href="_c_generic_sensor_8h_source.html">CGenericSensor.h</a>.</p>
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<a class="anchor" id="abdebc0341c7eb478a84ea859c15e9997"></a><!-- doxytag: member="mrpt::hwdrivers::CActivMediaRobotBase::initialize" ref="abdebc0341c7eb478a84ea859c15e9997" args="()" -->
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<td class="memname">void mrpt::hwdrivers::CActivMediaRobotBase::initialize </td>
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<td><code> [virtual]</code></td>
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<p>Connects to the robot. </p>
<p>Reimplemented from <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a775782a8fef4c5cd11265024431ed8c3">mrpt::hwdrivers::CGenericSensor</a>.</p>
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<a class="anchor" id="af71054440e57cdb3b0f04d5dcc4dfc92"></a><!-- doxytag: member="mrpt::hwdrivers::CActivMediaRobotBase::isJoystickControlEnabled" ref="af71054440e57cdb3b0f04d5dcc4dfc92" args="() const " -->
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<td class="memname">bool mrpt::hwdrivers::CActivMediaRobotBase::isJoystickControlEnabled </td>
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<td class="paramname"></td><td>)</td>
<td> const<code> [inline]</code></td>
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<p>Get state of manual control with a joystick. </p>
<p>Definition at line <a class="el" href="_c_activ_media_robot_base_8h_source.html#l00188">188</a> of file <a class="el" href="_c_activ_media_robot_base_8h_source.html">CActivMediaRobotBase.h</a>.</p>
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<a class="anchor" id="a6f34c5b79a128d1cb6b47eaa987ecb51"></a><!-- doxytag: member="mrpt::hwdrivers::CActivMediaRobotBase::loadConfig" ref="a6f34c5b79a128d1cb6b47eaa987ecb51" args="(const mrpt::utils::CConfigFileBase &configSource, const std::string &section)" -->
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<td class="memname">void mrpt::hwdrivers::CGenericSensor::loadConfig </td>
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<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="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="classstd_1_1string.html">std::string</a> & </td>
<td class="paramname"><em>section</em> </td>
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<td>)</td>
<td></td><td><code> [inherited]</code></td>
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<p>Loads the generic settings common to any sensor (See <a class="el" 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>), then call to "loadConfig_sensorSpecific" </p>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname">This</td><td>method throws an exception with a descriptive message if some critical parameter is missing or has an invalid value. </td></tr>
</table>
</dd>
</dl>
</p>
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<a class="anchor" id="a4fc185a6ed79faedd35c213e33de6c48"></a><!-- doxytag: member="mrpt::hwdrivers::CActivMediaRobotBase::loadConfig_sensorSpecific" ref="a4fc185a6ed79faedd35c213e33de6c48" args="(const mrpt::utils::CConfigFileBase &configSource, const std::string &iniSection)" -->
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<td class="memname">void mrpt::hwdrivers::CActivMediaRobotBase::loadConfig_sensorSpecific </td>
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<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></td>
<td class="paramtype">const <a class="el" href="classstd_1_1string.html">std::string</a> & </td>
<td class="paramname"><em>iniSection</em> </td>
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<td>)</td>
<td></td><td><code> [protected, virtual]</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 <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_activ_media_robot_base.html" title="This software driver implements the communications (and some rudimentary control) for ActivMedia robo...">hwdrivers::CActivMediaRobotBase</a> for the possible parameters. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_activ_media_robot_base.html#ae017c7d94e2aad2c28c18cffcac7e4e7" title="Manually sets the serial port configuration.">setSerialPortConfig</a> </dd></dl>
<p>Implements <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#ac867f9cb46c72b4386a5488f171f178f">mrpt::hwdrivers::CGenericSensor</a>.</p>
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<a class="anchor" id="a640e1b953865c3d2e881bbd2c1a81428"></a><!-- doxytag: member="mrpt::hwdrivers::CActivMediaRobotBase::registerClass" ref="a640e1b953865c3d2e881bbd2c1a81428" args="(const TSensorClassId *pNewClass)" -->
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<td class="memname">static void mrpt::hwdrivers::CGenericSensor::registerClass </td>
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<td class="paramname"><em>pNewClass</em></td><td>)</td>
<td><code> [static, inherited]</code></td>
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<p>Register a class into the internal list of "CGenericSensor" descendents. </p>
<p>Used internally in the macros DEFINE_GENERIC_SENSOR, etc...</p>
<p>Can be used as "CGenericSensor::registerClass( SENSOR_CLASS_ID(CMySensor) );" if building custom sensors outside mrpt libraries in user code. </p>
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<a class="anchor" id="aff4b208b901763557196b9326901c582"></a><!-- doxytag: member="mrpt::hwdrivers::CActivMediaRobotBase::setExternalImageFormat" ref="aff4b208b901763557196b9326901c582" args="(const std::string &ext)" -->
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<td class="memname">void mrpt::hwdrivers::CGenericSensor::setExternalImageFormat </td>
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<p>Set the extension ("jpg","gif","png",...) that determines the format of images saved externally The default is "jpg". </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#afa55ff06dbf360c8f631d371d6ebe35d" title="Set the path where to save off-rawlog image files (will be ignored in those sensors where this is not...">setPathForExternalImages</a>, <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#aca05f7ee991ee112b5e9f8f289a9ee94" title="The quality of JPEG compression, when external images is enabled and the format is "jpg"...">setExternalImageJPEGQuality</a> </dd></dl>
<p>Definition at line <a class="el" href="_c_generic_sensor_8h_source.html#l00233">233</a> of file <a class="el" href="_c_generic_sensor_8h_source.html">CGenericSensor.h</a>.</p>
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<a class="anchor" id="aca05f7ee991ee112b5e9f8f289a9ee94"></a><!-- doxytag: member="mrpt::hwdrivers::CActivMediaRobotBase::setExternalImageJPEGQuality" ref="aca05f7ee991ee112b5e9f8f289a9ee94" args="(const unsigned int quality)" -->
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<td class="memname">void mrpt::hwdrivers::CGenericSensor::setExternalImageJPEGQuality </td>
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<td class="paramtype">const unsigned int </td>
<td class="paramname"><em>quality</em></td><td>)</td>
<td><code> [inline, inherited]</code></td>
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<p>The quality of JPEG compression, when external images is enabled and the format is "jpg". </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#aff4b208b901763557196b9326901c582" title="Set the extension ("jpg","gif","png",...) that determines the format of images saved externally The d...">setExternalImageFormat</a> </dd></dl>
<p>Definition at line <a class="el" href="_c_generic_sensor_8h_source.html#l00238">238</a> of file <a class="el" href="_c_generic_sensor_8h_source.html">CGenericSensor.h</a>.</p>
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<a class="anchor" id="afa55ff06dbf360c8f631d371d6ebe35d"></a><!-- doxytag: member="mrpt::hwdrivers::CActivMediaRobotBase::setPathForExternalImages" ref="afa55ff06dbf360c8f631d371d6ebe35d" args="(const std::string &directory)" -->
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<td class="memname">virtual void mrpt::hwdrivers::CGenericSensor::setPathForExternalImages </td>
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<td class="paramtype">const <a class="el" href="classstd_1_1string.html">std::string</a> & </td>
<td class="paramname"><em>directory</em></td><td>)</td>
<td><code> [inline, virtual, inherited]</code></td>
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<p>Set the path where to save off-rawlog image files (will be ignored in those sensors where this is not applicable). </p>
<p>An empty string (the default value at construction) means to save images embedded in the rawlog, instead of on separate files. </p>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname"><a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a></td><td>If the directory doesn't exists and cannot be created. </td></tr>
</table>
</dd>
</dl>
<p>Reimplemented in <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_kinect.html#af1eb1294ff0693595f46c26ede24d115">mrpt::hwdrivers::CKinect</a>, <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_camera_sensor.html#a8cc198b85399850d439eda47d832bc8d">mrpt::hwdrivers::CCameraSensor</a>, and <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html#a7392e6fb7a5720f0cbfa6dd02b7ec439">mrpt::hwdrivers::CSwissRanger3DCamera</a>.</p>
<p>Definition at line <a class="el" href="_c_generic_sensor_8h_source.html#l00225">225</a> of file <a class="el" href="_c_generic_sensor_8h_source.html">CGenericSensor.h</a>.</p>
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<a class="anchor" id="a044c1340c4b90957250f63fa89189036"></a><!-- doxytag: member="mrpt::hwdrivers::CActivMediaRobotBase::setSensorLabel" ref="a044c1340c4b90957250f63fa89189036" args="(const std::string &sensorLabel)" -->
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<td class="memname">void mrpt::hwdrivers::CGenericSensor::setSensorLabel </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classstd_1_1string.html">std::string</a> & </td>
<td class="paramname"><em>sensorLabel</em></td><td>)</td>
<td><code> [inline, inherited]</code></td>
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<p>Definition at line <a class="el" href="_c_generic_sensor_8h_source.html#l00103">103</a> of file <a class="el" href="_c_generic_sensor_8h_source.html">CGenericSensor.h</a>.</p>
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<a class="anchor" id="ae017c7d94e2aad2c28c18cffcac7e4e7"></a><!-- doxytag: member="mrpt::hwdrivers::CActivMediaRobotBase::setSerialPortConfig" ref="ae017c7d94e2aad2c28c18cffcac7e4e7" args="(const std::string &portName, int portBaudRate)" -->
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<td class="memname">void mrpt::hwdrivers::CActivMediaRobotBase::setSerialPortConfig </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classstd_1_1string.html">std::string</a> & </td>
<td class="paramname"><em>portName</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>portBaudRate</em> </td>
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<td></td>
<td>)</td>
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<p>Manually sets the serial port configuration. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">portName</td><td>Examples: Windows: "COM1" , Linux: "/dev/ttyUSB0" </td></tr>
<tr><td class="paramname">portBaudRate</td><td>9600, 115200, etc.. </td></tr>
</table>
</dd>
</dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a6f34c5b79a128d1cb6b47eaa987ecb51" title="Loads the generic settings common to any sensor (See CGenericSensor), then call to "loadConfig_sensor...">loadConfig</a> </dd></dl>
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</div>
<a class="anchor" id="aacb648d4c92b9e4e7a94978b7d021958"></a><!-- doxytag: member="mrpt::hwdrivers::CActivMediaRobotBase::setVelocities" ref="aacb648d4c92b9e4e7a94978b7d021958" args="(const double lin_vel, const double ang_vel)" -->
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<td class="memname">void mrpt::hwdrivers::CActivMediaRobotBase::setVelocities </td>
<td>(</td>
<td class="paramtype">const double </td>
<td class="paramname"><em>lin_vel</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const double </td>
<td class="paramname"><em>ang_vel</em> </td>
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<td>)</td>
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<p>Set the robot linear and angular velocities. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">lin_vel</td><td>Linear speed, in m/s. </td></tr>
<tr><td class="paramname">ang_vel</td><td>Angular speed, in rad/s. </td></tr>
</table>
</dd>
</dl>
</div>
</div>
<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="a88aa6698022863c91537b228aadb7206"></a><!-- doxytag: member="mrpt::hwdrivers::CActivMediaRobotBase::m_capture_rate" ref="a88aa6698022863c91537b228aadb7206" args="" -->
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<td class="memname">double <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_activ_media_robot_base.html#a88aa6698022863c91537b228aadb7206">mrpt::hwdrivers::CActivMediaRobotBase::m_capture_rate</a><code> [protected]</code></td>
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<p>In Hz, the rate at which sonars & odometry are gathered (default=10Hz) </p>
<p>Definition at line <a class="el" href="_c_activ_media_robot_base_8h_source.html#l00209">209</a> of file <a class="el" href="_c_activ_media_robot_base_8h_source.html">CActivMediaRobotBase.h</a>.</p>
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<a class="anchor" id="acb026dec816f34cfa885b6be2d370edd"></a><!-- doxytag: member="mrpt::hwdrivers::CActivMediaRobotBase::m_com_port" ref="acb026dec816f34cfa885b6be2d370edd" args="" -->
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<td class="memname"><a class="el" href="classstd_1_1string.html">std::string</a> <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_activ_media_robot_base.html#acb026dec816f34cfa885b6be2d370edd">mrpt::hwdrivers::CActivMediaRobotBase::m_com_port</a><code> [protected]</code></td>
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<p>The serial port name to use for communications (COM1, ttyS1,...) </p>
<p>Definition at line <a class="el" href="_c_activ_media_robot_base_8h_source.html#l00191">191</a> of file <a class="el" href="_c_activ_media_robot_base_8h_source.html">CActivMediaRobotBase.h</a>.</p>
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<a class="anchor" id="aa25f9791eb1e82059bedec25fb81aa00"></a><!-- doxytag: member="mrpt::hwdrivers::CActivMediaRobotBase::m_enableJoyControl" ref="aa25f9791eb1e82059bedec25fb81aa00" args="" -->
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<td class="memname">bool <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_activ_media_robot_base.html#aa25f9791eb1e82059bedec25fb81aa00">mrpt::hwdrivers::CActivMediaRobotBase::m_enableJoyControl</a><code> [protected]</code></td>
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<p>For use with rawlog-grabber. </p>
<p>Definition at line <a class="el" href="_c_activ_media_robot_base_8h_source.html#l00203">203</a> of file <a class="el" href="_c_activ_media_robot_base_8h_source.html">CActivMediaRobotBase.h</a>.</p>
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<a class="anchor" id="ac6c6b5249d27991c238c5c69fa8337da"></a><!-- doxytag: member="mrpt::hwdrivers::CActivMediaRobotBase::m_enableSonars" ref="ac6c6b5249d27991c238c5c69fa8337da" args="" -->
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<td class="memname">bool <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_activ_media_robot_base.html#ac6c6b5249d27991c238c5c69fa8337da">mrpt::hwdrivers::CActivMediaRobotBase::m_enableSonars</a><code> [protected]</code></td>
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<p>Definition at line <a class="el" href="_c_activ_media_robot_base_8h_source.html#l00195">195</a> of file <a class="el" href="_c_activ_media_robot_base_8h_source.html">CActivMediaRobotBase.h</a>.</p>
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<a class="anchor" id="a7d153c5247b0180b6b9df5054d67b183"></a><!-- doxytag: member="mrpt::hwdrivers::CActivMediaRobotBase::m_external_images_format" ref="a7d153c5247b0180b6b9df5054d67b183" args="" -->
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<td class="memname"><a class="el" href="classstd_1_1string.html">std::string</a> <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a7d153c5247b0180b6b9df5054d67b183">mrpt::hwdrivers::CGenericSensor::m_external_images_format</a><code> [protected, inherited]</code></td>
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<p>The extension ("jpg","gif","png",...) that determines the format of images saved externally. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#afa55ff06dbf360c8f631d371d6ebe35d" title="Set the path where to save off-rawlog image files (will be ignored in those sensors where this is not...">setPathForExternalImages</a> </dd></dl>
<p>Definition at line <a class="el" href="_c_generic_sensor_8h_source.html#l00139">139</a> of file <a class="el" href="_c_generic_sensor_8h_source.html">CGenericSensor.h</a>.</p>
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<a class="anchor" id="aeac331931fce4890793cd7f1b5f6eb3e"></a><!-- doxytag: member="mrpt::hwdrivers::CActivMediaRobotBase::m_external_images_jpeg_quality" ref="aeac331931fce4890793cd7f1b5f6eb3e" args="" -->
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<td class="memname">unsigned int <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#aeac331931fce4890793cd7f1b5f6eb3e">mrpt::hwdrivers::CGenericSensor::m_external_images_jpeg_quality</a><code> [protected, inherited]</code></td>
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<p>For JPEG images, the quality (default=95%). </p>
<p>Definition at line <a class="el" href="_c_generic_sensor_8h_source.html#l00140">140</a> of file <a class="el" href="_c_generic_sensor_8h_source.html">CGenericSensor.h</a>.</p>
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<a class="anchor" id="adf151afb9e0461cc1967eed3c4340f70"></a><!-- doxytag: member="mrpt::hwdrivers::CActivMediaRobotBase::m_firstIncreOdometry" ref="adf151afb9e0461cc1967eed3c4340f70" args="" -->
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<td class="memname">bool <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_activ_media_robot_base.html#adf151afb9e0461cc1967eed3c4340f70">mrpt::hwdrivers::CActivMediaRobotBase::m_firstIncreOdometry</a><code> [protected]</code></td>
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<p>Used in getOdometryIncrement. </p>
<p>Definition at line <a class="el" href="_c_activ_media_robot_base_8h_source.html#l00194">194</a> of file <a class="el" href="_c_activ_media_robot_base_8h_source.html">CActivMediaRobotBase.h</a>.</p>
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<a class="anchor" id="a587daaab2cb302eb4cc72eb1396d5f21"></a><!-- doxytag: member="mrpt::hwdrivers::CActivMediaRobotBase::m_grab_decimation" ref="a587daaab2cb302eb4cc72eb1396d5f21" args="" -->
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<td class="memname">size_t <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a587daaab2cb302eb4cc72eb1396d5f21">mrpt::hwdrivers::CGenericSensor::m_grab_decimation</a><code> [protected, inherited]</code></td>
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<p>If set to N>=2, only 1 out of N observations will be saved to m_objList. </p>
<p>Definition at line <a class="el" href="_c_generic_sensor_8h_source.html#l00127">127</a> of file <a class="el" href="_c_generic_sensor_8h_source.html">CGenericSensor.h</a>.</p>
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<a class="anchor" id="a564a6c2bc7f1baaea9a9d90112a7b376"></a><!-- doxytag: member="mrpt::hwdrivers::CActivMediaRobotBase::m_grab_decimation_counter" ref="a564a6c2bc7f1baaea9a9d90112a7b376" args="" -->
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<td class="memname">size_t <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a564a6c2bc7f1baaea9a9d90112a7b376">mrpt::hwdrivers::CGenericSensor::m_grab_decimation_counter</a><code> [protected, inherited]</code></td>
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<p>Used when "m_grab_decimation" is enabled. </p>
<p>Definition at line <a class="el" href="_c_generic_sensor_8h_source.html#l00132">132</a> of file <a class="el" href="_c_generic_sensor_8h_source.html">CGenericSensor.h</a>.</p>
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<a class="anchor" id="a0edfa29f32833b8b6be41bd1f3a00409"></a><!-- doxytag: member="mrpt::hwdrivers::CActivMediaRobotBase::m_joy_max_v" ref="a0edfa29f32833b8b6be41bd1f3a00409" args="" -->
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<td class="memname">float <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_activ_media_robot_base.html#a0edfa29f32833b8b6be41bd1f3a00409">mrpt::hwdrivers::CActivMediaRobotBase::m_joy_max_v</a><code> [protected]</code></td>
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<p>Definition at line <a class="el" href="_c_activ_media_robot_base_8h_source.html#l00204">204</a> of file <a class="el" href="_c_activ_media_robot_base_8h_source.html">CActivMediaRobotBase.h</a>.</p>
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<a class="anchor" id="a0b15eac7bbceeb67ca88e14b74c8ff73"></a><!-- doxytag: member="mrpt::hwdrivers::CActivMediaRobotBase::m_joy_max_w" ref="a0b15eac7bbceeb67ca88e14b74c8ff73" args="" -->
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<td class="memname">float <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_activ_media_robot_base.html#a0b15eac7bbceeb67ca88e14b74c8ff73">mrpt::hwdrivers::CActivMediaRobotBase::m_joy_max_w</a><code> [protected]</code></td>
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<p>Definition at line <a class="el" href="_c_activ_media_robot_base_8h_source.html#l00204">204</a> of file <a class="el" href="_c_activ_media_robot_base_8h_source.html">CActivMediaRobotBase.h</a>.</p>
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<a class="anchor" id="a44ea0e8a98d5820034bd22996fa65d0e"></a><!-- doxytag: member="mrpt::hwdrivers::CActivMediaRobotBase::m_joystick" ref="a44ea0e8a98d5820034bd22996fa65d0e" args="" -->
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<td class="memname"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_joystick.html">CJoystick</a> <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_activ_media_robot_base.html#a44ea0e8a98d5820034bd22996fa65d0e">mrpt::hwdrivers::CActivMediaRobotBase::m_joystick</a><code> [protected]</code></td>
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<p>The joystick opened at first usage. </p>
<p>Definition at line <a class="el" href="_c_activ_media_robot_base_8h_source.html#l00206">206</a> of file <a class="el" href="_c_activ_media_robot_base_8h_source.html">CActivMediaRobotBase.h</a>.</p>
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<a class="anchor" id="aad4e5555e7188fcdef33d60db294f138"></a><!-- doxytag: member="mrpt::hwdrivers::CActivMediaRobotBase::m_last_do_process" ref="aad4e5555e7188fcdef33d60db294f138" args="" -->
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<td class="memname"><a class="el" href="group__time__date.html#ga42674286d8d56afea013b6329bb7327a">mrpt::system::TTimeStamp</a> <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_activ_media_robot_base.html#aad4e5555e7188fcdef33d60db294f138">mrpt::hwdrivers::CActivMediaRobotBase::m_last_do_process</a><code> [protected]</code></td>
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<p>Definition at line <a class="el" href="_c_activ_media_robot_base_8h_source.html#l00208">208</a> of file <a class="el" href="_c_activ_media_robot_base_8h_source.html">CActivMediaRobotBase.h</a>.</p>
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<a class="anchor" id="ae83316aae98324cfea62d4a2af48b964"></a><!-- doxytag: member="mrpt::hwdrivers::CActivMediaRobotBase::m_lastTimeSonars" ref="ae83316aae98324cfea62d4a2af48b964" args="" -->
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<td class="memname">unsigned int <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_activ_media_robot_base.html#ae83316aae98324cfea62d4a2af48b964">mrpt::hwdrivers::CActivMediaRobotBase::m_lastTimeSonars</a><code> [protected]</code></td>
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<p>Definition at line <a class="el" href="_c_activ_media_robot_base_8h_source.html#l00201">201</a> of file <a class="el" href="_c_activ_media_robot_base_8h_source.html">CActivMediaRobotBase.h</a>.</p>
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<a class="anchor" id="a6f35448579bd4d27cd4f4685b31a8cc0"></a><!-- doxytag: member="mrpt::hwdrivers::CActivMediaRobotBase::m_max_queue_len" ref="a6f35448579bd4d27cd4f4685b31a8cc0" args="" -->
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<td class="memname">size_t <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a6f35448579bd4d27cd4f4685b31a8cc0">mrpt::hwdrivers::CGenericSensor::m_max_queue_len</a><code> [protected, inherited]</code></td>
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<p>See <a class="el" 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>. </p>
<p>Definition at line <a class="el" href="_c_generic_sensor_8h_source.html#l00126">126</a> of file <a class="el" href="_c_generic_sensor_8h_source.html">CGenericSensor.h</a>.</p>
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<a class="anchor" id="a06fe84426b813b9c1966c12bb69e6ee6"></a><!-- doxytag: member="mrpt::hwdrivers::CActivMediaRobotBase::m_path_for_external_images" ref="a06fe84426b813b9c1966c12bb69e6ee6" args="" -->
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<td class="memname"><a class="el" href="classstd_1_1string.html">std::string</a> <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a06fe84426b813b9c1966c12bb69e6ee6">mrpt::hwdrivers::CGenericSensor::m_path_for_external_images</a><code> [protected, inherited]</code></td>
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<p>The path where to save off-rawlog images: empty means save images embedded in the rawlog. </p>
<p>Definition at line <a class="el" href="_c_generic_sensor_8h_source.html#l00138">138</a> of file <a class="el" href="_c_generic_sensor_8h_source.html">CGenericSensor.h</a>.</p>
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<a class="anchor" id="a77094b791971e8f42b94de34f4adb0f7"></a><!-- doxytag: member="mrpt::hwdrivers::CActivMediaRobotBase::m_process_rate" ref="a77094b791971e8f42b94de34f4adb0f7" args="" -->
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<td class="memname">double <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a77094b791971e8f42b94de34f4adb0f7">mrpt::hwdrivers::CGenericSensor::m_process_rate</a><code> [protected, inherited]</code></td>
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<p>See <a class="el" 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>. </p>
<p>Definition at line <a class="el" href="_c_generic_sensor_8h_source.html#l00125">125</a> of file <a class="el" href="_c_generic_sensor_8h_source.html">CGenericSensor.h</a>.</p>
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<a class="anchor" id="a6464aec511d89ad703ec072ecf5e0c9a"></a><!-- doxytag: member="mrpt::hwdrivers::CActivMediaRobotBase::m_robot" ref="a6464aec511d89ad703ec072ecf5e0c9a" args="" -->
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<td class="memname">void* <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_activ_media_robot_base.html#a6464aec511d89ad703ec072ecf5e0c9a">mrpt::hwdrivers::CActivMediaRobotBase::m_robot</a><code> [protected]</code></td>
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<p>Definition at line <a class="el" href="_c_activ_media_robot_base_8h_source.html#l00197">197</a> of file <a class="el" href="_c_activ_media_robot_base_8h_source.html">CActivMediaRobotBase.h</a>.</p>
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<a class="anchor" id="abca15155fe7176aedaf278367af81e4c"></a><!-- doxytag: member="mrpt::hwdrivers::CActivMediaRobotBase::m_robotBaud" ref="abca15155fe7176aedaf278367af81e4c" args="" -->
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<td class="memname">int <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_activ_media_robot_base.html#abca15155fe7176aedaf278367af81e4c">mrpt::hwdrivers::CActivMediaRobotBase::m_robotBaud</a><code> [protected]</code></td>
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<p>The bauds for ARIA communications to the robot. </p>
<p>Definition at line <a class="el" href="_c_activ_media_robot_base_8h_source.html#l00192">192</a> of file <a class="el" href="_c_activ_media_robot_base_8h_source.html">CActivMediaRobotBase.h</a>.</p>
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<a class="anchor" id="accd4de8daeb5966c191fbc62a5d90355"></a><!-- doxytag: member="mrpt::hwdrivers::CActivMediaRobotBase::m_sensorLabel" ref="accd4de8daeb5966c191fbc62a5d90355" args="" -->
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<td class="memname"><a class="el" href="classstd_1_1string.html">std::string</a> <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#accd4de8daeb5966c191fbc62a5d90355">mrpt::hwdrivers::CGenericSensor::m_sensorLabel</a><code> [protected, inherited]</code></td>
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<p>See <a class="el" 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>. </p>
<p>Definition at line <a class="el" href="_c_generic_sensor_8h_source.html#l00128">128</a> of file <a class="el" href="_c_generic_sensor_8h_source.html">CGenericSensor.h</a>.</p>
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<a class="anchor" id="a9947c548116acd08ef95bbfac03298d8"></a><!-- doxytag: member="mrpt::hwdrivers::CActivMediaRobotBase::m_simpleConnector" ref="a9947c548116acd08ef95bbfac03298d8" args="" -->
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<td class="memname">void* <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_activ_media_robot_base.html#a9947c548116acd08ef95bbfac03298d8">mrpt::hwdrivers::CActivMediaRobotBase::m_simpleConnector</a><code> [protected]</code></td>
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<p>The connection to the robot. </p>
<p>Definition at line <a class="el" href="_c_activ_media_robot_base_8h_source.html#l00199">199</a> of file <a class="el" href="_c_activ_media_robot_base_8h_source.html">CActivMediaRobotBase.h</a>.</p>
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<a class="anchor" id="abb28af6b037d0f65c0f2a08187707448"></a><!-- doxytag: member="mrpt::hwdrivers::CActivMediaRobotBase::m_sonarDev" ref="abb28af6b037d0f65c0f2a08187707448" args="" -->
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<td class="memname">void* <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_activ_media_robot_base.html#abb28af6b037d0f65c0f2a08187707448">mrpt::hwdrivers::CActivMediaRobotBase::m_sonarDev</a><code> [protected]</code></td>
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<p>Definition at line <a class="el" href="_c_activ_media_robot_base_8h_source.html#l00198">198</a> of file <a class="el" href="_c_activ_media_robot_base_8h_source.html">CActivMediaRobotBase.h</a>.</p>
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<a class="anchor" id="ab3e8a003783acd03bfd64716640fd67c"></a><!-- doxytag: member="mrpt::hwdrivers::CActivMediaRobotBase::m_state" ref="ab3e8a003783acd03bfd64716640fd67c" args="" -->
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<td class="memname"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a44262a8f1ffcc87871fbd717d3fc2cab">TSensorState</a> <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#ab3e8a003783acd03bfd64716640fd67c">mrpt::hwdrivers::CGenericSensor::m_state</a><code> [protected, inherited]</code></td>
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<p>Definition at line <a class="el" href="_c_generic_sensor_8h_source.html#l00134">134</a> of file <a class="el" href="_c_generic_sensor_8h_source.html">CGenericSensor.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 1.7.5</a> for MRPT 0.9.5 SVN: at Sun Sep 25 17:20:18 UTC 2011</td><td></td> <td width="100"> </td> <td width="150"> </td></tr> </table> </body></html>
