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<a href="#pub-types">Public Types</a> |
<a href="#pub-methods">Public Member Functions</a> |
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<div class="title">mrpt::hwdrivers::CBoardENoses 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::CBoardENoses" --><!-- doxytag: inherits="mrpt::hwdrivers::CGenericSensor" --><hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>A class for interfacing an e-Noses via a FTDI USB link. </p>
<p>Implemented for the board v1.0 designed by 2007 @ ISA (University of Malaga).</p>
<div class="fragment"><pre class="fragment"> PARAMETERS IN THE <span class="stringliteral">".INI"</span>-LIKE CONFIGURATION STRINGS:
-------------------------------------------------------
[supplied_section_name]
USB_serialname=ENOSE001 <span class="comment">// USB FTDI pipe: will open only if COM_port_* are not set or empty</span>
COM_port_WIN = COM1 <span class="comment">// Serial port to connect to.</span>
COM_port_LIN = ttyS0
COM_baudRate = 115200
; 3D position (in meters) of the master +slave eNoses
<a class="code" href="classmrpt_1_1hwdrivers_1_1_c_board_e_noses.html#a48e9e23fc53fc96510a0c67687cc451b" title="The 3D pose of the master + N slave eNoses on the robot (meters & radians)">enose_poses_x</a>=<MASTER X> <SLAVE#1 X> <SLAVE#2 X> <SLAVE#3 X>...
<a class="code" href="classmrpt_1_1hwdrivers_1_1_c_board_e_noses.html#a31f1b6cfc26e02ab246976e6fdc753b6">enose_poses_y</a>=<MASTER Y> <SLAVE#1 Y> <SLAVE#2 Y> <SLAVE#3 Y>...
<a class="code" href="classmrpt_1_1hwdrivers_1_1_c_board_e_noses.html#add242e70d53676d085892eab724f7fae">enose_poses_z</a>=<MASTER Z> <SLAVE#1 Z> <SLAVE#2 Z> <SLAVE#3 Z>...
; 3D pose angles (in degrees) of the master +slave eNoses
<a class="code" href="classmrpt_1_1hwdrivers_1_1_c_board_e_noses.html#a849d137afd94521ecd2970deb477ce41">enose_poses_yaw</a>=<MASTER YAW> <SLAVE#1 YAW> <SLAVE#2 YAW> <SLAVE#3 YAW>...
<a class="code" href="classmrpt_1_1hwdrivers_1_1_c_board_e_noses.html#a2fd9acebb04f7fb552a88cf7f4e4eefe">enose_poses_pitch</a>=<MASTER PITCH> <SLAVE#1 PITCH> <SLAVE#2 PITCH> <SLAVE#3 PITCH>...
<a class="code" href="classmrpt_1_1hwdrivers_1_1_c_board_e_noses.html#acf669c7f849468461bcfd618ea50d7be">enose_poses_roll</a>=<MASTER ROLL> <SLAVE#1 ROLL> <SLAVE#2 ROLL> <SLAVE#3 ROLL>...
</pre></div> </div>
<p><code>#include <<a class="el" href="_c_board_e_noses_8h_source.html">mrpt/hwdrivers/CBoardENoses.h</a>></code></p>
<div class="dynheader">
Inheritance diagram for mrpt::hwdrivers::CBoardENoses:</div>
<div class="dyncontent">
<div class="center"><img src="classmrpt_1_1hwdrivers_1_1_c_board_e_noses__inherit__graph.png" border="0" usemap="#mrpt_1_1hwdrivers_1_1_c_board_e_noses_inherit__map" alt="Inheritance graph"/></div>
<map name="mrpt_1_1hwdrivers_1_1_c_board_e_noses_inherit__map" id="mrpt_1_1hwdrivers_1_1_c_board_e_noses_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="5,80,221,107"/><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="32,5,195,32"/></map>
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="classmrpt_1_1hwdrivers_1_1_c_board_e_noses-members.html">List of all members.</a></p>
<table class="memberdecls">
<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"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_board_e_noses.html#aaed14c0f9f3b144b6497c8ceddd4f02b">CBoardENoses</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Constructor. <a href="#aaed14c0f9f3b144b6497c8ceddd4f02b"></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_board_e_noses.html#a63b7a8c56e5642e184def70e30d8dc1d">~CBoardENoses</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Destructor. <a href="#a63b7a8c56e5642e184def70e30d8dc1d"></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_board_e_noses.html#a30a5cd404d26f0b245892e4e28f2658c">setActiveChamber</a> (unsigned char chamber)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set the active chamber (afected by poluted air) on the device. <a href="#a30a5cd404d26f0b245892e4e28f2658c"></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_board_e_noses.html#a0cce9dda07ab5d83ceb0254c7aec6127">queryFirmwareVersion</a> (<a class="el" href="classstd_1_1string.html">std::string</a> &out_firmwareVersion)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Query the firmware version on the device (can be used to test communications). <a href="#a0cce9dda07ab5d83ceb0254c7aec6127"></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_board_e_noses.html#a7d613ae7fc71bff9b2c26991c121a9ab">getObservation</a> (<a class="el" href="classmrpt_1_1slam_1_1_c_observation_gas_sensors.html">mrpt::slam::CObservationGasSensors</a> &outObservation)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Request the master eNose the latest readings from all the eNoses. <a href="#a7d613ae7fc71bff9b2c26991c121a9ab"></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_board_e_noses.html#a0ceba2b80917a7f666e6300679a27904">doProcess</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">This method should be called periodically (at least at 1Hz to capture ALL the real-time data) It is thread safe, i.e. <a href="#a0ceba2b80917a7f666e6300679a27904"></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_board_e_noses.html#a48867ea4696d2c8d73b3334c37e7fe4f">initialize</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Tries to open the camera, after setting all the parameters with a call to loadConfig. <a href="#a48867ea4696d2c8d73b3334c37e7fe4f"></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_board_e_noses.html#ac0714e5a2ca2908239498349d160a261">setSerialPort</a> (const <a class="el" href="classstd_1_1string.html">std::string</a> &port)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">If not an empty string, will open that serial port, otherwise will try to open USB FTDI device "m_usbSerialNumber" The default is an empty string. <a href="#ac0714e5a2ca2908239498349d160a261"></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_board_e_noses.html#a5052a374b26c4a7843e8444956287b43">getSerialPort</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_board_e_noses.html#aeae257c7ccb3a68622b44f900c921116">setSerialPortBaud</a> (unsigned int baud)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set the serial port baud rate (default: 115200) <a href="#aeae257c7ccb3a68622b44f900c921116"></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_board_e_noses.html#a32e8cb547a997f4628935d42a5563570">getSerialPortBaud</a> () const </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"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_board_e_noses.html#a5a78886bc8ed28447441d1af66b866f9">checkConnectionAndConnect</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Tries to connect to the USB device (if disconnected). <a href="#a5a78886bc8ed28447441d1af66b866f9"></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_board_e_noses.html#a379ac6a5b6855586fd24bf3816433227">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> &section)</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_board_e_noses.html" title="A class for interfacing an e-Noses via a FTDI USB link.">hwdrivers::CBoardENoses</a> for the possible parameters. <a href="#a379ac6a5b6855586fd24bf3816433227"></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_board_e_noses.html#a52d9293e2909beba8ab6a19ac31a9e20">m_usbSerialNumber</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A copy of the device serial number (to open the USB FTDI chip) <a href="#a52d9293e2909beba8ab6a19ac31a9e20"></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_board_e_noses.html#a5d0865a7b69ff1fec260796186c1b825">initial_timestamp</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_board_e_noses.html#ab4c797e7982e124a2d2052eeece3a95b">first_reading</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_board_e_noses.html#a20273a263cf81f717e3ef17c2d5e1bf2">m_COM_port</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">If not an empty string (default), will open that serial port, otherwise will try to open USB FTDI device "m_usbSerialNumber". <a href="#a20273a263cf81f717e3ef17c2d5e1bf2"></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_board_e_noses.html#a41e62ece74b99eb1d2673930da593e62">m_COM_baud</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Default=115200. <a href="#a41e62ece74b99eb1d2673930da593e62"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_interface_f_t_d_i.html">CInterfaceFTDI</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_board_e_noses.html#a9c0df2e2ac8ddcbd4e928a7dfe414142">m_stream_FTDI</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">FTDI comms pipe (when not in serial port mode) <a href="#a9c0df2e2ac8ddcbd4e928a7dfe414142"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_serial_port.html">CSerialPort</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_board_e_noses.html#ab2607f94a5ea91e101245f28224021b1">m_stream_SERIAL</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Serial port comms. <a href="#ab2607f94a5ea91e101245f28224021b1"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classstd_1_1vector.html">std::vector</a>< float > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_board_e_noses.html#a48e9e23fc53fc96510a0c67687cc451b">enose_poses_x</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The 3D pose of the master + N slave eNoses on the robot (meters & radians) <a href="#a48e9e23fc53fc96510a0c67687cc451b"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classstd_1_1vector.html">std::vector</a>< float > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_board_e_noses.html#a31f1b6cfc26e02ab246976e6fdc753b6">enose_poses_y</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classstd_1_1vector.html">std::vector</a>< float > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_board_e_noses.html#add242e70d53676d085892eab724f7fae">enose_poses_z</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classstd_1_1vector.html">std::vector</a>< float > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_board_e_noses.html#a849d137afd94521ecd2970deb477ce41">enose_poses_yaw</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classstd_1_1vector.html">std::vector</a>< float > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_board_e_noses.html#a2fd9acebb04f7fb552a88cf7f4e4eefe">enose_poses_pitch</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classstd_1_1vector.html">std::vector</a>< float > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_board_e_noses.html#acf669c7f849468461bcfd618ea50d7be">enose_poses_roll</a></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>
</table>
<hr/><h2>Member Typedef Documentation</h2>
<a class="anchor" id="af237beee1de7f3e5733e305921695b30"></a><!-- doxytag: member="mrpt::hwdrivers::CBoardENoses::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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<a class="anchor" id="a78712e0c40c510978fb8589774056ab3"></a><!-- doxytag: member="mrpt::hwdrivers::CBoardENoses::TListObsPair" ref="a78712e0c40c510978fb8589774056ab3" args="" -->
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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::CBoardENoses::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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</dd>
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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="aaed14c0f9f3b144b6497c8ceddd4f02b"></a><!-- doxytag: member="mrpt::hwdrivers::CBoardENoses::CBoardENoses" ref="aaed14c0f9f3b144b6497c8ceddd4f02b" args="()" -->
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<td class="memname">mrpt::hwdrivers::CBoardENoses::CBoardENoses </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
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<p>Constructor. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">serialNumberUSBdevice</td><td>The serial number (text) of the device to open. The constructor will try to open the device. You can check if it failed calling "isOpen()". </td></tr>
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<a class="anchor" id="a63b7a8c56e5642e184def70e30d8dc1d"></a><!-- doxytag: member="mrpt::hwdrivers::CBoardENoses::~CBoardENoses" ref="a63b7a8c56e5642e184def70e30d8dc1d" args="()" -->
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<td class="memname">virtual mrpt::hwdrivers::CBoardENoses::~CBoardENoses </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [virtual]</code></td>
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<p>Destructor. </p>
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<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="a03bf6784838d6418f4fe485933a1ab0c"></a><!-- doxytag: member="mrpt::hwdrivers::CBoardENoses::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::CBoardENoses::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="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="a5a78886bc8ed28447441d1af66b866f9"></a><!-- doxytag: member="mrpt::hwdrivers::CBoardENoses::checkConnectionAndConnect" ref="a5a78886bc8ed28447441d1af66b866f9" args="()" -->
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<td class="memname"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a>* mrpt::hwdrivers::CBoardENoses::checkConnectionAndConnect </td>
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<td><code> [protected]</code></td>
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<p>Tries to connect to the USB device (if disconnected). </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>NULL on error, otherwise a stream to be used for comms. </dd></dl>
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<a class="anchor" id="ab652d017225fff3050a607f4461b0484"></a><!-- doxytag: member="mrpt::hwdrivers::CBoardENoses::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>
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<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::CBoardENoses::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="a0ceba2b80917a7f666e6300679a27904"></a><!-- doxytag: member="mrpt::hwdrivers::CBoardENoses::doProcess" ref="a0ceba2b80917a7f666e6300679a27904" args="()" -->
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<td class="memname">void mrpt::hwdrivers::CBoardENoses::doProcess </td>
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<td><code> [virtual]</code></td>
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<p>This method should be called periodically (at least at 1Hz to capture ALL the real-time data) It is thread safe, i.e. </p>
<p>you can call this from one thread, then to other methods from other threads. </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="a9d5aecec9f302feede271c9f1425a323"></a><!-- doxytag: member="mrpt::hwdrivers::CBoardENoses::getExternalImageJPEGQuality" ref="a9d5aecec9f302feede271c9f1425a323" args="() const " -->
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<td class="memname">unsigned int mrpt::hwdrivers::CGenericSensor::getExternalImageJPEGQuality </td>
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<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#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="a7d613ae7fc71bff9b2c26991c121a9ab"></a><!-- doxytag: member="mrpt::hwdrivers::CBoardENoses::getObservation" ref="a7d613ae7fc71bff9b2c26991c121a9ab" args="(mrpt::slam::CObservationGasSensors &outObservation)" -->
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<p>Request the master eNose the latest readings from all the eNoses. </p>
<p>The output observation contains a valid timestamp and 3D positions if "loadConfig" has been called previously. </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>true if OK, false if there were any error. </dd></dl>
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<a class="anchor" id="a34b2a73792cbe176b28c932646bba0ed"></a><!-- doxytag: member="mrpt::hwdrivers::CBoardENoses::getObservations" ref="a34b2a73792cbe176b28c932646bba0ed" args="(TListObservations &lstObjects)" -->
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<td class="memname">void mrpt::hwdrivers::CGenericSensor::getObservations </td>
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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="a8a05c268aef7ecada94a0014a2b294f7"></a><!-- doxytag: member="mrpt::hwdrivers::CBoardENoses::getProcessRate" ref="a8a05c268aef7ecada94a0014a2b294f7" args="() const " -->
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<td class="memname">double mrpt::hwdrivers::CGenericSensor::getProcessRate </td>
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<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="afbc26c93b989d1a0cc94c0c88d47cdba"></a><!-- doxytag: member="mrpt::hwdrivers::CBoardENoses::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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<a class="anchor" id="af3cd061ca684e7ddf5949ed78fced7c9"></a><!-- doxytag: member="mrpt::hwdrivers::CBoardENoses::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> 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="a5052a374b26c4a7843e8444956287b43"></a><!-- doxytag: member="mrpt::hwdrivers::CBoardENoses::getSerialPort" ref="a5052a374b26c4a7843e8444956287b43" args="() const " -->
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<td class="memname"><a class="el" href="classstd_1_1string.html">std::string</a> mrpt::hwdrivers::CBoardENoses::getSerialPort </td>
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<td> const<code> [inline]</code></td>
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<p>Definition at line <a class="el" href="_c_board_e_noses_8h_source.html#l00152">152</a> of file <a class="el" href="_c_board_e_noses_8h_source.html">CBoardENoses.h</a>.</p>
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<a class="anchor" id="a32e8cb547a997f4628935d42a5563570"></a><!-- doxytag: member="mrpt::hwdrivers::CBoardENoses::getSerialPortBaud" ref="a32e8cb547a997f4628935d42a5563570" args="() const " -->
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<td class="memname">unsigned int mrpt::hwdrivers::CBoardENoses::getSerialPortBaud </td>
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<td> const<code> [inline]</code></td>
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<p>Definition at line <a class="el" href="_c_board_e_noses_8h_source.html#l00156">156</a> of file <a class="el" href="_c_board_e_noses_8h_source.html">CBoardENoses.h</a>.</p>
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<a class="anchor" id="a0bd667caedc6a313d96c232bf75ba577"></a><!-- doxytag: member="mrpt::hwdrivers::CBoardENoses::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>
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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="a48867ea4696d2c8d73b3334c37e7fe4f"></a><!-- doxytag: member="mrpt::hwdrivers::CBoardENoses::initialize" ref="a48867ea4696d2c8d73b3334c37e7fe4f" args="()" -->
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<td class="memname">virtual void mrpt::hwdrivers::CBoardENoses::initialize </td>
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<p>Tries to open the camera, after setting all the parameters with a call to loadConfig. </p>
<dl><dt><b>Exceptions:</b></dt><dd>
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<tr><td class="paramname">This</td><td>method must throw an exception with a descriptive message if some critical error is found. </td></tr>
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<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="a6f34c5b79a128d1cb6b47eaa987ecb51"></a><!-- doxytag: member="mrpt::hwdrivers::CBoardENoses::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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<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>
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<a class="anchor" id="a379ac6a5b6855586fd24bf3816433227"></a><!-- doxytag: member="mrpt::hwdrivers::CBoardENoses::loadConfig_sensorSpecific" ref="a379ac6a5b6855586fd24bf3816433227" args="(const mrpt::utils::CConfigFileBase &configSource, const std::string &section)" -->
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<td class="memname">void mrpt::hwdrivers::CBoardENoses::loadConfig_sensorSpecific </td>
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<td class="paramname"><em>section</em> </td>
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<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_board_e_noses.html" title="A class for interfacing an e-Noses via a FTDI USB link.">hwdrivers::CBoardENoses</a> for the possible parameters. </p>
<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="a0cce9dda07ab5d83ceb0254c7aec6127"></a><!-- doxytag: member="mrpt::hwdrivers::CBoardENoses::queryFirmwareVersion" ref="a0cce9dda07ab5d83ceb0254c7aec6127" args="(std::string &out_firmwareVersion)" -->
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<p>Query the firmware version on the device (can be used to test communications). </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>true on success, false on communications errors or device not found. </dd></dl>
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<a class="anchor" id="a640e1b953865c3d2e881bbd2c1a81428"></a><!-- doxytag: member="mrpt::hwdrivers::CBoardENoses::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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<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="a30a5cd404d26f0b245892e4e28f2658c"></a><!-- doxytag: member="mrpt::hwdrivers::CBoardENoses::setActiveChamber" ref="a30a5cd404d26f0b245892e4e28f2658c" args="(unsigned char chamber)" -->
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<p>Set the active chamber (afected by poluted air) on the device. </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>true on success, false on communications errors or device not found. </dd></dl>
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<a class="anchor" id="aff4b208b901763557196b9326901c582"></a><!-- doxytag: member="mrpt::hwdrivers::CBoardENoses::setExternalImageFormat" ref="aff4b208b901763557196b9326901c582" args="(const std::string &ext)" -->
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<td class="paramtype">const <a class="el" href="classstd_1_1string.html">std::string</a> & </td>
<td class="paramname"><em>ext</em></td><td>)</td>
<td><code> [inline, inherited]</code></td>
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</table>
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<div class="memdoc">
<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::CBoardENoses::setExternalImageJPEGQuality" ref="aca05f7ee991ee112b5e9f8f289a9ee94" args="(const unsigned int quality)" -->
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<td class="memname">void mrpt::hwdrivers::CGenericSensor::setExternalImageJPEGQuality </td>
<td>(</td>
<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::CBoardENoses::setPathForExternalImages" ref="afa55ff06dbf360c8f631d371d6ebe35d" args="(const std::string &directory)" -->
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<td class="memname">virtual void mrpt::hwdrivers::CGenericSensor::setPathForExternalImages </td>
<td>(</td>
<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>
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</dd>
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<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::CBoardENoses::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="ac0714e5a2ca2908239498349d160a261"></a><!-- doxytag: member="mrpt::hwdrivers::CBoardENoses::setSerialPort" ref="ac0714e5a2ca2908239498349d160a261" args="(const std::string &port)" -->
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<td class="memname">void mrpt::hwdrivers::CBoardENoses::setSerialPort </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classstd_1_1string.html">std::string</a> & </td>
<td class="paramname"><em>port</em></td><td>)</td>
<td><code> [inline]</code></td>
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<p>If not an empty string, will open that serial port, otherwise will try to open USB FTDI device "m_usbSerialNumber" The default is an empty string. </p>
<p>Example strings: "COM1", "ttyUSB0", ... </p>
<p>Definition at line <a class="el" href="_c_board_e_noses_8h_source.html#l00151">151</a> of file <a class="el" href="_c_board_e_noses_8h_source.html">CBoardENoses.h</a>.</p>
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<a class="anchor" id="aeae257c7ccb3a68622b44f900c921116"></a><!-- doxytag: member="mrpt::hwdrivers::CBoardENoses::setSerialPortBaud" ref="aeae257c7ccb3a68622b44f900c921116" args="(unsigned int baud)" -->
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<td class="memname">void mrpt::hwdrivers::CBoardENoses::setSerialPortBaud </td>
<td>(</td>
<td class="paramtype">unsigned int </td>
<td class="paramname"><em>baud</em></td><td>)</td>
<td><code> [inline]</code></td>
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<p>Set the serial port baud rate (default: 115200) </p>
<p>Definition at line <a class="el" href="_c_board_e_noses_8h_source.html#l00155">155</a> of file <a class="el" href="_c_board_e_noses_8h_source.html">CBoardENoses.h</a>.</p>
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<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="a2fd9acebb04f7fb552a88cf7f4e4eefe"></a><!-- doxytag: member="mrpt::hwdrivers::CBoardENoses::enose_poses_pitch" ref="a2fd9acebb04f7fb552a88cf7f4e4eefe" args="" -->
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<td class="memname"><a class="el" href="classstd_1_1vector.html">std::vector</a><float> <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_board_e_noses.html#a2fd9acebb04f7fb552a88cf7f4e4eefe">mrpt::hwdrivers::CBoardENoses::enose_poses_pitch</a><code> [protected]</code></td>
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<p>Definition at line <a class="el" href="_c_board_e_noses_8h_source.html#l00094">94</a> of file <a class="el" href="_c_board_e_noses_8h_source.html">CBoardENoses.h</a>.</p>
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<a class="anchor" id="acf669c7f849468461bcfd618ea50d7be"></a><!-- doxytag: member="mrpt::hwdrivers::CBoardENoses::enose_poses_roll" ref="acf669c7f849468461bcfd618ea50d7be" args="" -->
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<td class="memname"><a class="el" href="classstd_1_1vector.html">std::vector</a><float> <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_board_e_noses.html#acf669c7f849468461bcfd618ea50d7be">mrpt::hwdrivers::CBoardENoses::enose_poses_roll</a><code> [protected]</code></td>
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<p>Definition at line <a class="el" href="_c_board_e_noses_8h_source.html#l00094">94</a> of file <a class="el" href="_c_board_e_noses_8h_source.html">CBoardENoses.h</a>.</p>
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<a class="anchor" id="a48e9e23fc53fc96510a0c67687cc451b"></a><!-- doxytag: member="mrpt::hwdrivers::CBoardENoses::enose_poses_x" ref="a48e9e23fc53fc96510a0c67687cc451b" args="" -->
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<td class="memname"><a class="el" href="classstd_1_1vector.html">std::vector</a><float> <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_board_e_noses.html#a48e9e23fc53fc96510a0c67687cc451b">mrpt::hwdrivers::CBoardENoses::enose_poses_x</a><code> [protected]</code></td>
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<p>The 3D pose of the master + N slave eNoses on the robot (meters & radians) </p>
<p>Definition at line <a class="el" href="_c_board_e_noses_8h_source.html#l00094">94</a> of file <a class="el" href="_c_board_e_noses_8h_source.html">CBoardENoses.h</a>.</p>
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<a class="anchor" id="a31f1b6cfc26e02ab246976e6fdc753b6"></a><!-- doxytag: member="mrpt::hwdrivers::CBoardENoses::enose_poses_y" ref="a31f1b6cfc26e02ab246976e6fdc753b6" args="" -->
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<td class="memname"><a class="el" href="classstd_1_1vector.html">std::vector</a><float> <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_board_e_noses.html#a31f1b6cfc26e02ab246976e6fdc753b6">mrpt::hwdrivers::CBoardENoses::enose_poses_y</a><code> [protected]</code></td>
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<p>Definition at line <a class="el" href="_c_board_e_noses_8h_source.html#l00094">94</a> of file <a class="el" href="_c_board_e_noses_8h_source.html">CBoardENoses.h</a>.</p>
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<a class="anchor" id="a849d137afd94521ecd2970deb477ce41"></a><!-- doxytag: member="mrpt::hwdrivers::CBoardENoses::enose_poses_yaw" ref="a849d137afd94521ecd2970deb477ce41" args="" -->
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<td class="memname"><a class="el" href="classstd_1_1vector.html">std::vector</a><float> <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_board_e_noses.html#a849d137afd94521ecd2970deb477ce41">mrpt::hwdrivers::CBoardENoses::enose_poses_yaw</a><code> [protected]</code></td>
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<p>Definition at line <a class="el" href="_c_board_e_noses_8h_source.html#l00094">94</a> of file <a class="el" href="_c_board_e_noses_8h_source.html">CBoardENoses.h</a>.</p>
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<a class="anchor" id="add242e70d53676d085892eab724f7fae"></a><!-- doxytag: member="mrpt::hwdrivers::CBoardENoses::enose_poses_z" ref="add242e70d53676d085892eab724f7fae" args="" -->
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<td class="memname"><a class="el" href="classstd_1_1vector.html">std::vector</a><float> <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_board_e_noses.html#add242e70d53676d085892eab724f7fae">mrpt::hwdrivers::CBoardENoses::enose_poses_z</a><code> [protected]</code></td>
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<p>Definition at line <a class="el" href="_c_board_e_noses_8h_source.html#l00094">94</a> of file <a class="el" href="_c_board_e_noses_8h_source.html">CBoardENoses.h</a>.</p>
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<a class="anchor" id="ab4c797e7982e124a2d2052eeece3a95b"></a><!-- doxytag: member="mrpt::hwdrivers::CBoardENoses::first_reading" ref="ab4c797e7982e124a2d2052eeece3a95b" args="" -->
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<td class="memname">bool <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_board_e_noses.html#ab4c797e7982e124a2d2052eeece3a95b">mrpt::hwdrivers::CBoardENoses::first_reading</a><code> [protected]</code></td>
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<p>Definition at line <a class="el" href="_c_board_e_noses_8h_source.html#l00081">81</a> of file <a class="el" href="_c_board_e_noses_8h_source.html">CBoardENoses.h</a>.</p>
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<a class="anchor" id="a5d0865a7b69ff1fec260796186c1b825"></a><!-- doxytag: member="mrpt::hwdrivers::CBoardENoses::initial_timestamp" ref="a5d0865a7b69ff1fec260796186c1b825" 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_board_e_noses.html#a5d0865a7b69ff1fec260796186c1b825">mrpt::hwdrivers::CBoardENoses::initial_timestamp</a><code> [protected]</code></td>
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<p>Definition at line <a class="el" href="_c_board_e_noses_8h_source.html#l00080">80</a> of file <a class="el" href="_c_board_e_noses_8h_source.html">CBoardENoses.h</a>.</p>
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<a class="anchor" id="a41e62ece74b99eb1d2673930da593e62"></a><!-- doxytag: member="mrpt::hwdrivers::CBoardENoses::m_COM_baud" ref="a41e62ece74b99eb1d2673930da593e62" args="" -->
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<td class="memname">unsigned int <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_board_e_noses.html#a41e62ece74b99eb1d2673930da593e62">mrpt::hwdrivers::CBoardENoses::m_COM_baud</a><code> [protected]</code></td>
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<p>Default=115200. </p>
<p>Definition at line <a class="el" href="_c_board_e_noses_8h_source.html#l00084">84</a> of file <a class="el" href="_c_board_e_noses_8h_source.html">CBoardENoses.h</a>.</p>
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<a class="anchor" id="a20273a263cf81f717e3ef17c2d5e1bf2"></a><!-- doxytag: member="mrpt::hwdrivers::CBoardENoses::m_COM_port" ref="a20273a263cf81f717e3ef17c2d5e1bf2" 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_board_e_noses.html#a20273a263cf81f717e3ef17c2d5e1bf2">mrpt::hwdrivers::CBoardENoses::m_COM_port</a><code> [protected]</code></td>
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<p>If not an empty string (default), will open that serial port, otherwise will try to open USB FTDI device "m_usbSerialNumber". </p>
<p>Definition at line <a class="el" href="_c_board_e_noses_8h_source.html#l00083">83</a> of file <a class="el" href="_c_board_e_noses_8h_source.html">CBoardENoses.h</a>.</p>
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<a class="anchor" id="a7d153c5247b0180b6b9df5054d67b183"></a><!-- doxytag: member="mrpt::hwdrivers::CBoardENoses::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::CBoardENoses::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="a587daaab2cb302eb4cc72eb1396d5f21"></a><!-- doxytag: member="mrpt::hwdrivers::CBoardENoses::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::CBoardENoses::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="a6f35448579bd4d27cd4f4685b31a8cc0"></a><!-- doxytag: member="mrpt::hwdrivers::CBoardENoses::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::CBoardENoses::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::CBoardENoses::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="accd4de8daeb5966c191fbc62a5d90355"></a><!-- doxytag: member="mrpt::hwdrivers::CBoardENoses::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="ab3e8a003783acd03bfd64716640fd67c"></a><!-- doxytag: member="mrpt::hwdrivers::CBoardENoses::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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<a class="anchor" id="a9c0df2e2ac8ddcbd4e928a7dfe414142"></a><!-- doxytag: member="mrpt::hwdrivers::CBoardENoses::m_stream_FTDI" ref="a9c0df2e2ac8ddcbd4e928a7dfe414142" args="" -->
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<td class="memname"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_interface_f_t_d_i.html">CInterfaceFTDI</a>* <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_board_e_noses.html#a9c0df2e2ac8ddcbd4e928a7dfe414142">mrpt::hwdrivers::CBoardENoses::m_stream_FTDI</a><code> [protected]</code></td>
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<p>FTDI comms pipe (when not in serial port mode) </p>
<p>Definition at line <a class="el" href="_c_board_e_noses_8h_source.html#l00089">89</a> of file <a class="el" href="_c_board_e_noses_8h_source.html">CBoardENoses.h</a>.</p>
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<a class="anchor" id="ab2607f94a5ea91e101245f28224021b1"></a><!-- doxytag: member="mrpt::hwdrivers::CBoardENoses::m_stream_SERIAL" ref="ab2607f94a5ea91e101245f28224021b1" args="" -->
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<td class="memname"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_serial_port.html">CSerialPort</a>* <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_board_e_noses.html#ab2607f94a5ea91e101245f28224021b1">mrpt::hwdrivers::CBoardENoses::m_stream_SERIAL</a><code> [protected]</code></td>
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<p>Serial port comms. </p>
<p>Definition at line <a class="el" href="_c_board_e_noses_8h_source.html#l00091">91</a> of file <a class="el" href="_c_board_e_noses_8h_source.html">CBoardENoses.h</a>.</p>
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<a class="anchor" id="a52d9293e2909beba8ab6a19ac31a9e20"></a><!-- doxytag: member="mrpt::hwdrivers::CBoardENoses::m_usbSerialNumber" ref="a52d9293e2909beba8ab6a19ac31a9e20" 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_board_e_noses.html#a52d9293e2909beba8ab6a19ac31a9e20">mrpt::hwdrivers::CBoardENoses::m_usbSerialNumber</a><code> [protected]</code></td>
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<p>A copy of the device serial number (to open the USB FTDI chip) </p>
<p>Definition at line <a class="el" href="_c_board_e_noses_8h_source.html#l00079">79</a> of file <a class="el" href="_c_board_e_noses_8h_source.html">CBoardENoses.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>
