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<div class="title">CGenericSensor.h</div> </div>
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<a href="_c_generic_sensor_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* +---------------------------------------------------------------------------+</span>
<a name="l00002"></a>00002 <span class="comment"> | The Mobile Robot Programming Toolkit (MRPT) C++ library |</span>
<a name="l00003"></a>00003 <span class="comment"> | |</span>
<a name="l00004"></a>00004 <span class="comment"> | http://www.mrpt.org/ |</span>
<a name="l00005"></a>00005 <span class="comment"> | |</span>
<a name="l00006"></a>00006 <span class="comment"> | Copyright (C) 2005-2011 University of Malaga |</span>
<a name="l00007"></a>00007 <span class="comment"> | |</span>
<a name="l00008"></a>00008 <span class="comment"> | This software was written by the Machine Perception and Intelligent |</span>
<a name="l00009"></a>00009 <span class="comment"> | Robotics Lab, University of Malaga (Spain). |</span>
<a name="l00010"></a>00010 <span class="comment"> | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |</span>
<a name="l00011"></a>00011 <span class="comment"> | |</span>
<a name="l00012"></a>00012 <span class="comment"> | This file is part of the MRPT project. |</span>
<a name="l00013"></a>00013 <span class="comment"> | |</span>
<a name="l00014"></a>00014 <span class="comment"> | MRPT is free software: you can redistribute it and/or modify |</span>
<a name="l00015"></a>00015 <span class="comment"> | it under the terms of the GNU General Public License as published by |</span>
<a name="l00016"></a>00016 <span class="comment"> | the Free Software Foundation, either version 3 of the License, or |</span>
<a name="l00017"></a>00017 <span class="comment"> | (at your option) any later version. |</span>
<a name="l00018"></a>00018 <span class="comment"> | |</span>
<a name="l00019"></a>00019 <span class="comment"> | MRPT is distributed in the hope that it will be useful, |</span>
<a name="l00020"></a>00020 <span class="comment"> | but WITHOUT ANY WARRANTY; without even the implied warranty of |</span>
<a name="l00021"></a>00021 <span class="comment"> | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |</span>
<a name="l00022"></a>00022 <span class="comment"> | GNU General Public License for more details. |</span>
<a name="l00023"></a>00023 <span class="comment"> | |</span>
<a name="l00024"></a>00024 <span class="comment"> | You should have received a copy of the GNU General Public License |</span>
<a name="l00025"></a>00025 <span class="comment"> | along with MRPT. If not, see <http://www.gnu.org/licenses/>. |</span>
<a name="l00026"></a>00026 <span class="comment"> | |</span>
<a name="l00027"></a>00027 <span class="comment"> +---------------------------------------------------------------------------+ */</span>
<a name="l00028"></a>00028
<a name="l00029"></a>00029 <span class="preprocessor">#ifndef CGenericSensor_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span><span class="preprocessor">#define CGenericSensor_H</span>
<a name="l00031"></a>00031 <span class="preprocessor"></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="_c_config_file_base_8h.html">mrpt/utils/CConfigFileBase.h</a>></span>
<a name="l00033"></a>00033 <span class="preprocessor">#include <<a class="code" href="_c_observation_8h.html">mrpt/slam/CObservation.h</a>></span>
<a name="l00034"></a>00034 <span class="preprocessor">#include <<a class="code" href="synch_8h.html">mrpt/synch.h</a>></span>
<a name="l00035"></a>00035 <span class="preprocessor">#include <<a class="code" href="threads_8h.html">mrpt/system/threads.h</a>></span>
<a name="l00036"></a>00036
<a name="l00037"></a>00037 <span class="preprocessor">#include <<a class="code" href="hwdrivers_2include_2mrpt_2hwdrivers_2link__pragmas_8h.html">mrpt/hwdrivers/link_pragmas.h</a>></span>
<a name="l00038"></a>00038
<a name="l00039"></a>00039
<a name="l00040"></a>00040 <span class="keyword">namespace </span>mrpt
<a name="l00041"></a>00041 {<span class="comment"></span>
<a name="l00042"></a>00042 <span class="comment"> /** Contains classes for various device interfaces.</span>
<a name="l00043"></a>00043 <span class="comment"> * \ingroup mrpt_hwdrivers_grp</span>
<a name="l00044"></a>00044 <span class="comment"> */</span>
<a name="l00045"></a>00045 <span class="keyword">namespace </span>hwdrivers
<a name="l00046"></a>00046 {
<a name="l00047"></a><a class="code" href="namespacemrpt_1_1hwdrivers.html#a3f369b2dbc16368a52f0ddab62ba5702">00047</a> <span class="keyword">class </span><a class="code" href="hwdrivers__impexp_8h.html#a5bcf681973c7e4e76310bd0791f1b612">HWDRIVERS_IMPEXP</a> <a class="code" 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 name="l00048"></a>00048 <span class="comment"></span>
<a name="l00049"></a>00049 <span class="comment"> /** A structure for runtime ID class type information in the context of hwdrivers::CGenericSensor.</span>
<a name="l00050"></a>00050 <span class="comment"> */</span>
<a name="l00051"></a>00051 <span class="keyword">struct </span><a class="code" href="hwdrivers__impexp_8h.html#a5bcf681973c7e4e76310bd0791f1b612">HWDRIVERS_IMPEXP</a> <a class="code" href="structmrpt_1_1hwdrivers_1_1_t_sensor_class_id.html" title="A structure for runtime ID class type information in the context of hwdrivers::CGenericSensor.">TSensorClassId</a>
<a name="l00052"></a>00052 {
<a name="l00053"></a><a class="code" href="structmrpt_1_1hwdrivers_1_1_t_sensor_class_id.html#acc14ddc75ce71d65424c1558ff3ffc3f">00053</a> <span class="keyword">const</span> <span class="keywordtype">char</span>* <a class="code" href="structmrpt_1_1hwdrivers_1_1_t_sensor_class_id.html#acc14ddc75ce71d65424c1558ff3ffc3f" title="Class name.">className</a>; <span class="comment">//!< Class name</span>
<a name="l00054"></a><a class="code" href="structmrpt_1_1hwdrivers_1_1_t_sensor_class_id.html#a75a2bab4577f7009dc9ae39e68b1f33c">00054</a> <span class="comment"></span> <a class="code" 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>* (*ptrCreateObject)(); <span class="comment">//!< Pointer to class constructor</span>
<a name="l00055"></a>00055 <span class="comment"></span> };
<a name="l00056"></a>00056
<a name="l00057"></a><a class="code" href="namespacemrpt_1_1hwdrivers.html#a71aef48ea8dd23e43c706cc1a3ae0e74">00057</a> <span class="keyword">typedef</span> stlplus::smart_ptr<CGenericSensor> <a class="code" href="namespacemrpt_1_1hwdrivers.html#a71aef48ea8dd23e43c706cc1a3ae0e74">CGenericSensorPtr</a>;
<a name="l00058"></a>00058 <span class="comment"></span>
<a name="l00059"></a>00059 <span class="comment"> /** A generic interface for a wide-variety of sensors designed to be used in the application RawLogGrabber.</span>
<a name="l00060"></a>00060 <span class="comment"> * Derived classes should be designed with the following execution flow in mind:</span>
<a name="l00061"></a>00061 <span class="comment"> * - Object constructor</span>
<a name="l00062"></a>00062 <span class="comment"> * - CGenericSensor::loadConfig: The following parameters are common to all sensors in rawlog-grabber (they are automatically loaded by rawlog-grabber) - see each class documentation for additional parameters:</span>
<a name="l00063"></a>00063 <span class="comment"> * - "process_rate": (Mandatory) The rate in Hertz (Hz) at which the sensor thread should invoke "doProcess".</span>
<a name="l00064"></a>00064 <span class="comment"> * - "max_queue_len": (Optional) The maximum number of objects in the observations queue (default is 200). If overflow occurs, an error message will be issued at run-time.</span>
<a name="l00065"></a>00065 <span class="comment"> * - "grab_decimation": (Optional) Grab only 1 out of N observations captured by the sensor (default is 1, i.e. do not decimate).</span>
<a name="l00066"></a>00066 <span class="comment"> * - CGenericSensor::initialize</span>
<a name="l00067"></a>00067 <span class="comment"> * - CGenericSensor::doProcess</span>
<a name="l00068"></a>00068 <span class="comment"> * - CGenericSensor::getObservations</span>
<a name="l00069"></a>00069 <span class="comment"> *</span>
<a name="l00070"></a>00070 <span class="comment"> * Notice that there are helper methods for managing the internal list of objects (see CGenericSensor::appendObservation).</span>
<a name="l00071"></a>00071 <span class="comment"> *</span>
<a name="l00072"></a>00072 <span class="comment"> * <b>Class Factory:</b> This is also a factory of derived classes, through the static method CGenericSensor::createSensor</span>
<a name="l00073"></a>00073 <span class="comment"> *</span>
<a name="l00074"></a>00074 <span class="comment"> *</span>
<a name="l00075"></a>00075 <span class="comment"> * For more details on RawLogGrabber refer to the wiki page:</span>
<a name="l00076"></a>00076 <span class="comment"> * http://www.mrpt.org/Application:RawLogGrabber</span>
<a name="l00077"></a>00077 <span class="comment"> * \ingroup mrpt_hwdrivers_grp</span>
<a name="l00078"></a>00078 <span class="comment"> */</span>
<a name="l00079"></a>00079 <span class="keyword">class </span><a class="code" href="hwdrivers__impexp_8h.html#a5bcf681973c7e4e76310bd0791f1b612">HWDRIVERS_IMPEXP</a> <a class="code" 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>: <span class="keyword">public</span> mrpt::utils::<a class="code" 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...">CUncopiable</a>
<a name="l00080"></a>00080 {
<a name="l00081"></a>00081 <span class="keyword">public</span>:
<a name="l00082"></a>00082 <span class="keyword">virtual</span> <span class="keyword">const</span> mrpt<a class="code" href="structmrpt_1_1hwdrivers_1_1_t_sensor_class_id.html" title="A structure for runtime ID class type information in the context of hwdrivers::CGenericSensor.">::hwdrivers::TSensorClassId</a>* GetRuntimeClass() <span class="keyword">const</span> = 0;
<a name="l00083"></a>00083
<a name="l00084"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#af237beee1de7f3e5733e305921695b30">00084</a> <span class="keyword">typedef</span> std<a class="code" href="classstd_1_1multimap.html">::multimap< mrpt::system::TTimeStamp, mrpt::utils::CSerializablePtr ></a> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#af237beee1de7f3e5733e305921695b30">TListObservations</a>;
<a name="l00085"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a78712e0c40c510978fb8589774056ab3">00085</a> <span class="keyword">typedef</span> std::pair< mrpt::system::TTimeStamp, mrpt::utils::CSerializablePtr > <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a78712e0c40c510978fb8589774056ab3">TListObsPair</a>;
<a name="l00086"></a>00086 <span class="comment"></span>
<a name="l00087"></a>00087 <span class="comment"> /** The current state of the sensor</span>
<a name="l00088"></a>00088 <span class="comment"> * \sa CGenericSensor::getState</span>
<a name="l00089"></a>00089 <span class="comment"> */</span>
<a name="l00090"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a44262a8f1ffcc87871fbd717d3fc2cab">00090</a> <span class="keyword">enum</span> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a44262a8f1ffcc87871fbd717d3fc2cab" title="The current state of the sensor.">TSensorState</a>
<a name="l00091"></a>00091 {
<a name="l00092"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a44262a8f1ffcc87871fbd717d3fc2caba0e2689514dd41d48164e021013549a44">00092</a> ssInitializing = 0,
<a name="l00093"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a44262a8f1ffcc87871fbd717d3fc2cabaacc62e94572e3cd3b4b08caad173a489">00093</a> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a44262a8f1ffcc87871fbd717d3fc2cabaacc62e94572e3cd3b4b08caad173a489">ssWorking</a>,
<a name="l00094"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a44262a8f1ffcc87871fbd717d3fc2caba8f76c8318736df85b6805ca460f8d262">00094</a> ssError
<a name="l00095"></a>00095 };
<a name="l00096"></a>00096 <span class="comment"></span>
<a name="l00097"></a>00097 <span class="comment"> /** The current state of the sensor */</span>
<a name="l00098"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a0bd667caedc6a313d96c232bf75ba577">00098</a> <span class="keyword">inline</span> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a44262a8f1ffcc87871fbd717d3fc2cab" title="The current state of the sensor.">TSensorState</a> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a0bd667caedc6a313d96c232bf75ba577" title="The current state of the sensor.">getState</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_state; }
<a name="l00099"></a>00099
<a name="l00100"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a8a05c268aef7ecada94a0014a2b294f7">00100</a> <span class="keyword">inline</span> <span class="keywordtype">double</span> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a8a05c268aef7ecada94a0014a2b294f7">getProcessRate</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_process_rate; }
<a name="l00101"></a>00101
<a name="l00102"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#af3cd061ca684e7ddf5949ed78fced7c9">00102</a> <span class="keyword">inline</span> std<a class="code" href="classstd_1_1string.html" title="STL class.">::string</a> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#af3cd061ca684e7ddf5949ed78fced7c9">getSensorLabel</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_sensorLabel; }
<a name="l00103"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a044c1340c4b90957250f63fa89189036">00103</a> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a044c1340c4b90957250f63fa89189036">setSensorLabel</a>(<span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a>& sensorLabel) { m_sensorLabel=sensorLabel; }
<a name="l00104"></a>00104 <span class="comment"></span>
<a name="l00105"></a>00105 <span class="comment"> /** Register a class into the internal list of "CGenericSensor" descendents.</span>
<a name="l00106"></a>00106 <span class="comment"> * Used internally in the macros DEFINE_GENERIC_SENSOR, etc...</span>
<a name="l00107"></a>00107 <span class="comment"> *</span>
<a name="l00108"></a>00108 <span class="comment"> * Can be used as "CGenericSensor::registerClass( SENSOR_CLASS_ID(CMySensor) );" if</span>
<a name="l00109"></a>00109 <span class="comment"> * building custom sensors outside mrpt libraries in user code.</span>
<a name="l00110"></a>00110 <span class="comment"> */</span>
<a name="l00111"></a>00111 <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="group__mrpt__base__grp.html#ga5af77a9809680e1559cde8167361518e" title="Register a class into the MRPT internal list of "CSerializable" descendents.">registerClass</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1hwdrivers_1_1_t_sensor_class_id.html" title="A structure for runtime ID class type information in the context of hwdrivers::CGenericSensor.">TSensorClassId</a>* pNewClass);
<a name="l00112"></a>00112
<a name="l00113"></a>00113 <span class="keyword">private</span>:
<a name="l00114"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a9ff93d86c4c09a910142155f6f789eea">00114</a> synch::CCriticalSection <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a9ff93d86c4c09a910142155f6f789eea" title="The critical section for m_objList.">m_csObjList</a>; <span class="comment">//!< The critical section for m_objList</span>
<a name="l00115"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a48c282eda678708c3a8afdf84529dfab">00115</a> <span class="comment"></span> <a class="code" href="classstd_1_1multimap.html">TListObservations</a> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a48c282eda678708c3a8afdf84529dfab" title="The queue of objects to be returned by getObservations.">m_objList</a>; <span class="comment">//!< The queue of objects to be returned by getObservations</span>
<a name="l00116"></a>00116 <span class="comment"></span><span class="comment"></span>
<a name="l00117"></a>00117 <span class="comment"> /** Used in registerClass */</span>
<a name="l00118"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#ac2a876b33fd0f1d93ee0ecdb252b0985">00118</a> <span class="keyword">static</span> std<a class="code" href="classstd_1_1map.html">::map< std::string , const TSensorClassId *></a> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#ac2a876b33fd0f1d93ee0ecdb252b0985" title="Used in registerClass.">m_knownClasses</a>;
<a name="l00119"></a>00119
<a name="l00120"></a>00120
<a name="l00121"></a>00121 <span class="keyword">protected</span>:<span class="comment"></span>
<a name="l00122"></a>00122 <span class="comment"> /** @name Common settings to any sensor, loaded in "loadConfig"</span>
<a name="l00123"></a>00123 <span class="comment"> @{ */</span>
<a name="l00124"></a>00124
<a name="l00125"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a77094b791971e8f42b94de34f4adb0f7">00125</a> <span class="keywordtype">double</span> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a77094b791971e8f42b94de34f4adb0f7" title="See CGenericSensor.">m_process_rate</a>; <span class="comment">//!< See CGenericSensor</span>
<a name="l00126"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a6f35448579bd4d27cd4f4685b31a8cc0">00126</a> <span class="comment"></span> <span class="keywordtype">size_t</span> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a6f35448579bd4d27cd4f4685b31a8cc0" title="See CGenericSensor.">m_max_queue_len</a>; <span class="comment">//!< See CGenericSensor</span>
<a name="l00127"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a587daaab2cb302eb4cc72eb1396d5f21">00127</a> <span class="comment"></span> <span class="keywordtype">size_t</span> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a587daaab2cb302eb4cc72eb1396d5f21" title="If set to N>=2, only 1 out of N observations will be saved to m_objList.">m_grab_decimation</a>; <span class="comment">//!< If set to N>=2, only 1 out of N observations will be saved to m_objList.</span>
<a name="l00128"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#accd4de8daeb5966c191fbc62a5d90355">00128</a> <span class="comment"></span> std<a class="code" href="classstd_1_1string.html" title="STL class.">::string</a> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#accd4de8daeb5966c191fbc62a5d90355" title="See CGenericSensor.">m_sensorLabel</a>; <span class="comment">//!< See CGenericSensor</span>
<a name="l00129"></a>00129 <span class="comment"></span><span class="comment"></span>
<a name="l00130"></a>00130 <span class="comment"> /** @} */</span>
<a name="l00131"></a>00131
<a name="l00132"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a564a6c2bc7f1baaea9a9d90112a7b376">00132</a> <span class="keywordtype">size_t</span> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a564a6c2bc7f1baaea9a9d90112a7b376" title="Used when "m_grab_decimation" is enabled.">m_grab_decimation_counter</a>; <span class="comment">//!< Used when "m_grab_decimation" is enabled</span>
<a name="l00133"></a>00133 <span class="comment"></span>
<a name="l00134"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#ab3e8a003783acd03bfd64716640fd67c">00134</a> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a44262a8f1ffcc87871fbd717d3fc2cab" title="The current state of the sensor.">TSensorState</a> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#ab3e8a003783acd03bfd64716640fd67c">m_state</a>;
<a name="l00135"></a>00135
<a name="l00136"></a>00136 <span class="comment">// === Data for off-rawlog file external image directory ====</span>
<a name="l00137"></a>00137 <span class="comment">// Only used by a few sensor classes.</span>
<a name="l00138"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a06fe84426b813b9c1966c12bb69e6ee6">00138</a> std<a class="code" href="classstd_1_1string.html" title="STL class.">::string</a> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a06fe84426b813b9c1966c12bb69e6ee6" title="The path where to save off-rawlog images: empty means save images embedded in the rawlog...">m_path_for_external_images</a>; <span class="comment">//!< The path where to save off-rawlog images: empty means save images embedded in the rawlog.</span>
<a name="l00139"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a7d153c5247b0180b6b9df5054d67b183">00139</a> <span class="comment"></span> std<a class="code" href="classstd_1_1string.html" title="STL class.">::string</a> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a7d153c5247b0180b6b9df5054d67b183" title="The extension ("jpg","gif","png",...) that determines the format of images saved externally.">m_external_images_format</a>; <span class="comment">//!< The extension ("jpg","gif","png",...) that determines the format of images saved externally \sa setPathForExternalImages</span>
<a name="l00140"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#aeac331931fce4890793cd7f1b5f6eb3e">00140</a> <span class="comment"></span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#aeac331931fce4890793cd7f1b5f6eb3e" title="For JPEG images, the quality (default=95%).">m_external_images_jpeg_quality</a>; <span class="comment">//!< For JPEG images, the quality (default=95%).</span>
<a name="l00141"></a>00141 <span class="comment"></span> <span class="comment">// ======================================</span>
<a name="l00142"></a>00142 <span class="comment"></span>
<a name="l00143"></a>00143 <span class="comment"> /** This method must be called by derived classes to enqueue a new observation in the list to be returned by getObservations.</span>
<a name="l00144"></a>00144 <span class="comment"> * Passed objects must be created in dynamic memory and a smart pointer passed. Example of creation:</span>
<a name="l00145"></a>00145 <span class="comment"> \code</span>
<a name="l00146"></a>00146 <span class="comment"> CObservationGPSPtr o = CObservationGPSPtr( new CObservationGPS() );</span>
<a name="l00147"></a>00147 <span class="comment"> o-> .... // Set data</span>
<a name="l00148"></a>00148 <span class="comment"> appendObservation(o);</span>
<a name="l00149"></a>00149 <span class="comment"> \endcode</span>
<a name="l00150"></a>00150 <span class="comment"> * If several observations are passed at once in the vector, they'll be considered as a block regarding the grabbing decimation factor.</span>
<a name="l00151"></a>00151 <span class="comment"> */</span>
<a name="l00152"></a>00152 <span class="keywordtype">void</span> appendObservations( <span class="keyword">const</span> <a class="code" href="classstd_1_1vector.html" title="STL class.">std::vector<mrpt::utils::CSerializablePtr></a> &obj);
<a name="l00153"></a>00153 <span class="comment"></span>
<a name="l00154"></a>00154 <span class="comment"> //! Like appendObservations() but for just one observation.</span>
<a name="l00155"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a03bf6784838d6418f4fe485933a1ab0c">00155</a> <span class="comment"></span> <span class="keywordtype">void</span> appendObservation( <span class="keyword">const</span> <a class="code" href="structmrpt_1_1utils_1_1_c_serializable_ptr.html">mrpt::utils::CSerializablePtr</a> &obj)
<a name="l00156"></a>00156 {
<a name="l00157"></a>00157 appendObservations(<a class="code" href="classstd_1_1vector.html" title="STL class.">std::vector<mrpt::utils::CSerializablePtr></a>(1, obj));
<a name="l00158"></a>00158 }
<a name="l00159"></a>00159 <span class="comment"></span>
<a name="l00160"></a>00160 <span class="comment"> /** Auxiliary structure used for CSerializable runtime class ID support.</span>
<a name="l00161"></a>00161 <span class="comment"> */</span>
<a name="l00162"></a>00162 <span class="keyword">struct </span>CLASSINIT_GENERIC_SENSOR
<a name="l00163"></a>00163 {
<a name="l00164"></a><a class="code" href="structmrpt_1_1hwdrivers_1_1_c_generic_sensor_1_1_c_l_a_s_s_i_n_i_t___g_e_n_e_r_i_c___s_e_n_s_o_r.html#a1ca522598172be3e6c42d3fa3f1e15cb">00164</a> <a class="code" href="structmrpt_1_1hwdrivers_1_1_c_generic_sensor_1_1_c_l_a_s_s_i_n_i_t___g_e_n_e_r_i_c___s_e_n_s_o_r.html" title="Auxiliary structure used for CSerializable runtime class ID support.">CLASSINIT_GENERIC_SENSOR</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1hwdrivers_1_1_t_sensor_class_id.html" title="A structure for runtime ID class type information in the context of hwdrivers::CGenericSensor.">TSensorClassId</a>* pNewClass)
<a name="l00165"></a>00165 {
<a name="l00166"></a>00166 <a class="code" href="group__mrpt__base__grp.html#ga5af77a9809680e1559cde8167361518e" title="Register a class into the MRPT internal list of "CSerializable" descendents.">CGenericSensor::registerClass</a>(pNewClass);
<a name="l00167"></a>00167 }
<a name="l00168"></a>00168 };
<a name="l00169"></a>00169 <span class="comment"></span>
<a name="l00170"></a>00170 <span class="comment"> /** Loads specific configuration for the device from a given source of configuration parameters, for example, an ".ini" file, loading from the section "[iniSection]" (see utils::CConfigFileBase and derived classes)</span>
<a name="l00171"></a>00171 <span class="comment"> * \exception This method must throw an exception with a descriptive message if some critical parameter is missing or has an invalid value.</span>
<a name="l00172"></a>00172 <span class="comment"> */</span>
<a name="l00173"></a>00173 <span class="keyword">virtual</span> <span class="keywordtype">void</span> loadConfig_sensorSpecific(
<a name="l00174"></a>00174 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1utils_1_1_c_config_file_base.html" title="This class allows loading and storing values and vectors of different types from a configuration text...">mrpt::utils::CConfigFileBase</a> &configSource,
<a name="l00175"></a>00175 <span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &section ) = 0;
<a name="l00176"></a>00176
<a name="l00177"></a>00177 <span class="keyword">public</span>:<span class="comment"></span>
<a name="l00178"></a>00178 <span class="comment"> /** Creates a sensor by a name of the class.</span>
<a name="l00179"></a>00179 <span class="comment"> * Typically the user may want to create a smart pointer around the returned pointer, whis is made with:</span>
<a name="l00180"></a>00180 <span class="comment"> * \code</span>
<a name="l00181"></a>00181 <span class="comment"> * CGenericSensorPtr sensor = CGenericSensorPtr( CGenericSensor::createSensor("XXX") );</span>
<a name="l00182"></a>00182 <span class="comment"> * \endcode</span>
<a name="l00183"></a>00183 <span class="comment"> * \return A pointer to a new class, or NULL if class name is unknown.</span>
<a name="l00184"></a>00184 <span class="comment"> */</span>
<a name="l00185"></a>00185 <span class="keyword">static</span> <a class="code" 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>* createSensor(<span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &className);
<a name="l00186"></a>00186 <span class="comment"></span>
<a name="l00187"></a>00187 <span class="comment"> /** Just like createSensor, but returning a smart pointer to the newly created sensor object. */</span>
<a name="l00188"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#aff4e4450e420bf60a2487ab0cff91907">00188</a> <span class="keyword">static</span> <span class="keyword">inline</span> <a class="code" href="classstlplus_1_1smart__ptr.html">CGenericSensorPtr</a> createSensorPtr(<span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &className)
<a name="l00189"></a>00189 {
<a name="l00190"></a>00190 <span class="keywordflow">return</span> <a class="code" href="namespacemrpt_1_1hwdrivers.html#a71aef48ea8dd23e43c706cc1a3ae0e74">CGenericSensorPtr</a>(createSensor(className));
<a name="l00191"></a>00191 }
<a name="l00192"></a>00192 <span class="comment"></span>
<a name="l00193"></a>00193 <span class="comment"> /** Constructor */</span>
<a name="l00194"></a>00194 <a class="code" href="namespacemrpt_1_1hwdrivers.html#a3f369b2dbc16368a52f0ddab62ba5702">CGenericSensor</a>( );
<a name="l00195"></a>00195 <span class="comment"></span>
<a name="l00196"></a>00196 <span class="comment"> /** Destructor */</span>
<a name="l00197"></a>00197 <span class="keyword">virtual</span> ~<a class="code" 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 name="l00198"></a>00198 <span class="comment"></span>
<a name="l00199"></a>00199 <span class="comment"> /** Loads the generic settings common to any sensor (See CGenericSensor), then call to "loadConfig_sensorSpecific"</span>
<a name="l00200"></a>00200 <span class="comment"> * \exception This method throws an exception with a descriptive message if some critical parameter is missing or has an invalid value.</span>
<a name="l00201"></a>00201 <span class="comment"> */</span>
<a name="l00202"></a>00202 <span class="keywordtype">void</span> loadConfig(
<a name="l00203"></a>00203 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1utils_1_1_c_config_file_base.html" title="This class allows loading and storing values and vectors of different types from a configuration text...">mrpt::utils::CConfigFileBase</a> &configSource,
<a name="l00204"></a>00204 <span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &section );
<a name="l00205"></a>00205 <span class="comment"></span>
<a name="l00206"></a>00206 <span class="comment"> /** This method can or cannot be implemented in the derived class, depending on the need for it.</span>
<a name="l00207"></a>00207 <span class="comment"> * \exception This method must throw an exception with a descriptive message if some critical error is found.</span>
<a name="l00208"></a>00208 <span class="comment"> */</span>
<a name="l00209"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a775782a8fef4c5cd11265024431ed8c3">00209</a> <span class="keyword">virtual</span> <span class="keywordtype">void</span> initialize()
<a name="l00210"></a>00210 { } <span class="comment">// Default method does nothing.</span>
<a name="l00211"></a>00211 <span class="comment"></span>
<a name="l00212"></a>00212 <span class="comment"> /** This method will be invoked at a minimum rate of "process_rate" (Hz)</span>
<a name="l00213"></a>00213 <span class="comment"> * \exception This method must throw an exception with a descriptive message if some critical error is found.</span>
<a name="l00214"></a>00214 <span class="comment"> */</span>
<a name="l00215"></a>00215 <span class="keyword">virtual</span> <span class="keywordtype">void</span> doProcess() = 0;
<a name="l00216"></a>00216 <span class="comment"></span>
<a name="l00217"></a>00217 <span class="comment"> /** Returns a list of enqueued objects, emptying it (thread-safe). The objects must be freed by the invoker.</span>
<a name="l00218"></a>00218 <span class="comment"> */</span>
<a name="l00219"></a>00219 <span class="keywordtype">void</span> getObservations( TListObservations &lstObjects );
<a name="l00220"></a>00220 <span class="comment"></span>
<a name="l00221"></a>00221 <span class="comment"> /** Set the path where to save off-rawlog image files (will be ignored in those sensors where this is not applicable).</span>
<a name="l00222"></a>00222 <span class="comment"> * An empty string (the default value at construction) means to save images embedded in the rawlog, instead of on separate files.</span>
<a name="l00223"></a>00223 <span class="comment"> * \exception std::exception If the directory doesn't exists and cannot be created.</span>
<a name="l00224"></a>00224 <span class="comment"> */</span>
<a name="l00225"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#afa55ff06dbf360c8f631d371d6ebe35d">00225</a> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" 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>( <span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &directory ) {
<a name="l00226"></a>00226 <span class="comment">// In this base class, the default is to ignore image paths.</span>
<a name="l00227"></a>00227 }
<a name="l00228"></a>00228 <span class="comment"></span>
<a name="l00229"></a>00229 <span class="comment"> /** Set the extension ("jpg","gif","png",...) that determines the format of images saved externally</span>
<a name="l00230"></a>00230 <span class="comment"> * The default is "jpg".</span>
<a name="l00231"></a>00231 <span class="comment"> * \sa setPathForExternalImages, setExternalImageJPEGQuality</span>
<a name="l00232"></a>00232 <span class="comment"> */</span>
<a name="l00233"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#aff4b208b901763557196b9326901c582">00233</a> <span class="keywordtype">void</span> <a class="code" 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>( <span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &ext ) {
<a name="l00234"></a>00234 m_external_images_format = ext;
<a name="l00235"></a>00235 }
<a name="l00236"></a>00236 <span class="comment"></span>
<a name="l00237"></a>00237 <span class="comment"> /** The quality of JPEG compression, when external images is enabled and the format is "jpg". \sa setExternalImageFormat */</span>
<a name="l00238"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#aca05f7ee991ee112b5e9f8f289a9ee94">00238</a> <span class="keywordtype">void</span> <a class="code" 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>(<span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> quality) {
<a name="l00239"></a>00239 m_external_images_jpeg_quality = quality;
<a name="l00240"></a>00240 }
<a name="l00241"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a9d5aecec9f302feede271c9f1425a323">00241</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html#a9d5aecec9f302feede271c9f1425a323">getExternalImageJPEGQuality</a>()<span class="keyword">const </span>{
<a name="l00242"></a>00242 <span class="keywordflow">return</span> m_external_images_jpeg_quality;
<a name="l00243"></a>00243 }
<a name="l00244"></a>00244
<a name="l00245"></a>00245 }; <span class="comment">// end of class</span>
<a name="l00246"></a>00246
<a name="l00247"></a>00247
<a name="l00248"></a><a class="code" href="_c_generic_sensor_8h.html#a9f1b606f47df314fba2e4a2509e02546">00248</a> <span class="preprocessor"> #define SENSOR_CLASS_ID(class_name) \</span>
<a name="l00249"></a>00249 <span class="preprocessor"> static_cast<const mrpt::hwdrivers::TSensorClassId*>(& mrpt::hwdrivers::class_name::class##class_name)</span>
<a name="l00250"></a>00250 <span class="preprocessor"></span>
<a name="l00251"></a><a class="code" href="_c_generic_sensor_8h.html#ad129b71e6d398e603d9444fe527120c4">00251</a> <span class="preprocessor"> #define SENSOR_IS_CLASS( ptrObj, class_name ) (ptrObj->GetRuntimeClass()==SENSOR_CLASS_ID(class_name))</span>
<a name="l00252"></a>00252 <span class="preprocessor"></span>
<a name="l00253"></a>00253 <span class="comment"></span>
<a name="l00254"></a>00254 <span class="comment"> /** This declaration must be inserted in all CGenericSensor classes definition, within the class declaration.</span>
<a name="l00255"></a>00255 <span class="comment"> */</span>
<a name="l00256"></a><a class="code" href="_c_generic_sensor_8h.html#ab8b72c811c520eb036fa4080d9cd9d1d">00256</a> <span class="preprocessor"> #define DEFINE_GENERIC_SENSOR(class_name) \</span>
<a name="l00257"></a>00257 <span class="preprocessor"> protected: \</span>
<a name="l00258"></a>00258 <span class="preprocessor"> static mrpt::hwdrivers::CGenericSensor::CLASSINIT_GENERIC_SENSOR _init_##class_name;\</span>
<a name="l00259"></a>00259 <span class="preprocessor"> public: \</span>
<a name="l00260"></a>00260 <span class="preprocessor"> static mrpt::hwdrivers::TSensorClassId class##class_name; \</span>
<a name="l00261"></a>00261 <span class="preprocessor"> virtual const mrpt::hwdrivers::TSensorClassId* GetRuntimeClass() const; \</span>
<a name="l00262"></a>00262 <span class="preprocessor"> static mrpt::hwdrivers::CGenericSensor* CreateObject(); \</span>
<a name="l00263"></a>00263 <span class="preprocessor"> static void doRegister() \</span>
<a name="l00264"></a>00264 <span class="preprocessor"> { CGenericSensor::registerClass( SENSOR_CLASS_ID( class_name ) ); }</span>
<a name="l00265"></a>00265 <span class="preprocessor"></span><span class="comment"></span>
<a name="l00266"></a>00266 <span class="comment"> /** This must be inserted in all CGenericSensor classes implementation files:</span>
<a name="l00267"></a>00267 <span class="comment"> */</span>
<a name="l00268"></a><a class="code" href="_c_generic_sensor_8h.html#ac3c515c8c914f6b6e838ac586526f179">00268</a> <span class="preprocessor"> #define IMPLEMENTS_GENERIC_SENSOR(class_name, NameSpace) \</span>
<a name="l00269"></a>00269 <span class="preprocessor"> mrpt::hwdrivers::CGenericSensor* NameSpace::class_name::CreateObject() \</span>
<a name="l00270"></a>00270 <span class="preprocessor"> { return static_cast<hwdrivers::CGenericSensor*>( new NameSpace::class_name ); } \</span>
<a name="l00271"></a>00271 <span class="preprocessor"> mrpt::hwdrivers::TSensorClassId NameSpace::class_name::class##class_name = { \</span>
<a name="l00272"></a>00272 <span class="preprocessor"> #class_name, NameSpace::class_name::CreateObject }; \</span>
<a name="l00273"></a>00273 <span class="preprocessor"> const mrpt::hwdrivers::TSensorClassId* NameSpace::class_name::GetRuntimeClass() const \</span>
<a name="l00274"></a>00274 <span class="preprocessor"> { return SENSOR_CLASS_ID(class_name); }</span>
<a name="l00275"></a>00275 <span class="preprocessor"></span>
<a name="l00276"></a>00276
<a name="l00277"></a>00277 } <span class="comment">// end of namespace</span>
<a name="l00278"></a>00278 } <span class="comment">// end of namespace</span>
<a name="l00279"></a>00279
<a name="l00280"></a>00280 <span class="preprocessor">#endif</span>
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