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<div class="title">CGyroKVHDSP3000.h</div> </div>
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<a href="_c_gyro_k_v_h_d_s_p3000_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 CGyroKVHDSP3000_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span><span class="preprocessor">#define CGyroKVHDSP3000_H</span>
<a name="l00031"></a>00031 <span class="preprocessor"></span>
<a name="l00032"></a>00032
<a name="l00033"></a>00033 <span class="preprocessor">#include <<a class="code" href="_c_generic_sensor_8h.html">mrpt/hwdrivers/CGenericSensor.h</a>></span>
<a name="l00034"></a>00034 <span class="preprocessor">#include <<a class="code" href="_c_serial_port_8h.html">mrpt/hwdrivers/CSerialPort.h</a>></span>
<a name="l00035"></a>00035
<a name="l00036"></a>00036 <span class="preprocessor">#include <<a class="code" href="_c_pose3_d_8h.html">mrpt/poses/CPose3D.h</a>></span>
<a name="l00037"></a>00037 <span class="preprocessor">#include <<a class="code" href="_c_observation_i_m_u_8h.html">mrpt/slam/CObservationIMU.h</a>></span>
<a name="l00038"></a>00038
<a name="l00039"></a>00039 <span class="keyword">namespace </span>mrpt
<a name="l00040"></a>00040 {
<a name="l00041"></a>00041 <span class="keyword">namespace </span>hwdrivers
<a name="l00042"></a>00042 {
<a name="l00043"></a><a class="code" href="namespacemrpt_1_1hwdrivers.html#a3dc4a7356865a37e501b8881429b91e3adfa1666076d4ec22a510ad297574bb2a">00043</a> <span class="keyword">enum</span> <a class="code" href="namespacemrpt_1_1hwdrivers.html#a3dc4a7356865a37e501b8881429b91e3">GYRO_MODE</a>{<a class="code" href="namespacemrpt_1_1hwdrivers.html#a3dc4a7356865a37e501b8881429b91e3adfa1666076d4ec22a510ad297574bb2a">RATE</a>, <a class="code" href="namespacemrpt_1_1hwdrivers.html#a3dc4a7356865a37e501b8881429b91e3a43c88dd8655c8f831f93fb14e0e4180a">INCREMENTAL_ANGLE</a>, <a class="code" href="namespacemrpt_1_1hwdrivers.html#a3dc4a7356865a37e501b8881429b91e3a4a75c5f66e0c30301c1d89fbc7436a0b">INTEGRATED_ANGLE</a>}; <span class="comment"></span>
<a name="l00044"></a>00044 <span class="comment"> /** A class for interfacing KVH DSP 3000 gyroscope with an assynchronous serial communication (product SN : 02-1222-01).</span>
<a name="l00045"></a>00045 <span class="comment"> * It uses a serial port connection to the device. The class implements the generic sensor class.</span>
<a name="l00046"></a>00046 <span class="comment"> * See also the application "rawlog-grabber" for a ready-to-use application to gather data from the scanner.</span>
<a name="l00047"></a>00047 <span class="comment"> * The generated observation is a CObservationIMU, but only the yaw angular velocity and the absolute yaw position are </span>
<a name="l00048"></a>00048 <span class="comment"> * are set in the vector CObservationIMU::rawMeasurements.</span>
<a name="l00049"></a>00049 <span class="comment"> * The sensor process rate is imposed by hardware at 100Hz.</span>
<a name="l00050"></a>00050 <span class="comment"> * For now, this sensor is only supported on posix system.</span>
<a name="l00051"></a>00051 <span class="comment"> * \code</span>
<a name="l00052"></a>00052 <span class="comment"> * PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:</span>
<a name="l00053"></a>00053 <span class="comment"> * -------------------------------------------------------</span>
<a name="l00054"></a>00054 <span class="comment"> * [supplied_section_name]</span>
<a name="l00055"></a>00055 <span class="comment"> * process_rate = 100 ; MUST be 100 Hz.</span>
<a name="l00056"></a>00056 <span class="comment"> * pose_x=0 ; Sensor 3D position relative to the robot (meters)</span>
<a name="l00057"></a>00057 <span class="comment"> * pose_y=0</span>
<a name="l00058"></a>00058 <span class="comment"> * pose_z=0</span>
<a name="l00059"></a>00059 <span class="comment"> * pose_yaw=0 ; Angles in degrees</span>
<a name="l00060"></a>00060 <span class="comment"> * pose_pitch=0</span>
<a name="l00061"></a>00061 <span class="comment"> * pose_roll=0</span>
<a name="l00062"></a>00062 <span class="comment"> * sensorLabel = <label> ; Label of the sensor</span>
<a name="l00063"></a>00063 <span class="comment"> * COM_port_LIN = /dev/ttyUSB0 ; COM PORT in LINUX </span>
<a name="l00064"></a>00064 <span class="comment"> * operatingMode = <"rate"/"integrated", "incremental"> ; Default mode is Rate.</span>
<a name="l00065"></a>00065 <span class="comment"> * \endcode</span>
<a name="l00066"></a>00066 <span class="comment"> * In most of the communs applications, this class will be used as :</span>
<a name="l00067"></a>00067 <span class="comment"> * \code</span>
<a name="l00068"></a>00068 <span class="comment"> * CGyroKVHDSP3000 kvh;</span>
<a name="l00069"></a>00069 <span class="comment"> * /// ...</span>
<a name="l00070"></a>00070 <span class="comment"> * CConfigFile conf("conf.ini");</span>
<a name="l00071"></a>00071 <span class="comment"> * /// ...</span>
<a name="l00072"></a>00072 <span class="comment"> * kvh.loadConfig_sensorSpecific(conf, "KVH");</span>
<a name="l00073"></a>00073 <span class="comment"> * /// ...</span>
<a name="l00074"></a>00074 <span class="comment"> * while(1) {</span>
<a name="l00075"></a>00075 <span class="comment"> * kvh.doProcess();</span>
<a name="l00076"></a>00076 <span class="comment"> * TListObservations rateObs;</span>
<a name="l00077"></a>00077 <span class="comment"> * kvh.getObservations(rateObs);</span>
<a name="l00078"></a>00078 <span class="comment"> * // ....</span>
<a name="l00079"></a>00079 <span class="comment"> * \endcode</span>
<a name="l00080"></a>00080 <span class="comment"> * \ingroup mrpt_hwdrivers_grp</span>
<a name="l00081"></a>00081 <span class="comment"> */</span>
<a name="l00082"></a>00082 <span class="keyword">class </span><a class="code" href="hwdrivers__impexp_8h.html#a5bcf681973c7e4e76310bd0791f1b612">HWDRIVERS_IMPEXP</a> CGyroKVHDSP3000 : <span class="keyword">public</span> hwdrivers::<a class="code" href="namespacemrpt_1_1hwdrivers.html#a3f369b2dbc16368a52f0ddab62ba5702">CGenericSensor</a>
<a name="l00083"></a>00083 {
<a name="l00084"></a>00084 <a class="code" href="_c_generic_sensor_8h.html#ab8b72c811c520eb036fa4080d9cd9d1d" title="This declaration must be inserted in all CGenericSensor classes definition, within the class declarat...">DEFINE_GENERIC_SENSOR</a>(CGyroKVHDSP3000)
<a name="l00085"></a>00085 protected:
<a name="l00086"></a>00086 <span class="comment"></span>
<a name="l00087"></a>00087 <span class="comment"> /** This serial port will be attempted to be opened automatically when this class is first used to request data from the device.</span>
<a name="l00088"></a>00088 <span class="comment"> * \sa hwdrivers::CSerialPort</span>
<a name="l00089"></a>00089 <span class="comment"> */</span>
<a name="l00090"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_gyro_k_v_h_d_s_p3000.html#ae6c8db06ea1b243dffdca87b345d84bf">00090</a> <span class="keywordtype">int</span> m_COMbauds;
<a name="l00091"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_gyro_k_v_h_d_s_p3000.html#a1c8df6fe6e671a67af0c9aaedb58534a">00091</a> std::<span class="keywordtype">string</span> m_com_port;
<a name="l00092"></a>00092
<a name="l00093"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_gyro_k_v_h_d_s_p3000.html#aa07ca784fd9396b0ebcb1ec970d5777a">00093</a> mrpt::poses::<a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d.html" title="A class used to store a 3D pose (a 3D translation + a rotation in 3D).">CPose3D</a> m_sensorPose;
<a name="l00094"></a>00094 <span class="comment"></span>
<a name="l00095"></a>00095 <span class="comment"> /** Search the port where the sensor is located and connect to it</span>
<a name="l00096"></a>00096 <span class="comment"> */</span>
<a name="l00097"></a>00097 <span class="keywordtype">bool</span> searchPortAndConnect();
<a name="l00098"></a>00098
<a name="l00099"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_gyro_k_v_h_d_s_p3000.html#a903ae62bdb1eec1359a0120e3f134c11">00099</a> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_serial_port.html" title="A communications serial port built as an implementation of a utils::CStream.">CSerialPort</a>* m_serialPort; <span class="comment">//!< The serial port connection</span>
<a name="l00100"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_gyro_k_v_h_d_s_p3000.html#af698ba6894ab364b4bf1b69a012308b1">00100</a> <span class="comment"></span> <a class="code" href="namespacemrpt_1_1hwdrivers.html#a3dc4a7356865a37e501b8881429b91e3">GYRO_MODE</a> m_mode;
<a name="l00101"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_gyro_k_v_h_d_s_p3000.html#a02a6843907b0767a16414c1a27ba00e7">00101</a> <span class="keywordtype">bool</span> m_firstInteration;
<a name="l00102"></a>00102
<a name="l00103"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_gyro_k_v_h_d_s_p3000.html#a1f848766fc34b1e010114cb5c3de1557">00103</a> mrpt::slam::<a class="code" href="structmrpt_1_1slam_1_1_c_observation_i_m_u_ptr.html">CObservationIMUPtr</a> m_observationGyro;
<a name="l00104"></a>00104
<a name="l00105"></a>00105 public:<span class="comment"></span>
<a name="l00106"></a>00106 <span class="comment"> /** Constructor</span>
<a name="l00107"></a>00107 <span class="comment"> */</span>
<a name="l00108"></a>00108 <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_gyro_k_v_h_d_s_p3000.html" title="A class for interfacing KVH DSP 3000 gyroscope with an assynchronous serial communication (product SN...">CGyroKVHDSP3000</a>( );
<a name="l00109"></a>00109 <span class="comment"></span>
<a name="l00110"></a>00110 <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="l00111"></a>00111 <span class="comment"> * See hwdrivers::CGyroKVHDSP3000 for the possible parameters</span>
<a name="l00112"></a>00112 <span class="comment"> */</span>
<a name="l00113"></a>00113 <span class="keywordtype">void</span> loadConfig_sensorSpecific(
<a name="l00114"></a>00114 const mrpt::utils::<a class="code" href="classmrpt_1_1utils_1_1_c_config_file_base.html" title="This class allows loading and storing values and vectors of different types from a configuration text...">CConfigFileBase</a> &configSource,
<a name="l00115"></a>00115 const std::<span class="keywordtype">string</span> &iniSection );
<a name="l00116"></a>00116 <span class="comment"></span>
<a name="l00117"></a>00117 <span class="comment"> /** Destructor</span>
<a name="l00118"></a>00118 <span class="comment"> */</span>
<a name="l00119"></a>00119 virtual ~CGyroKVHDSP3000();
<a name="l00120"></a>00120
<a name="l00121"></a>00121 <span class="comment"></span>
<a name="l00122"></a>00122 <span class="comment"> /** This method will be invoked at a minimum rate of "process_rate" (Hz)</span>
<a name="l00123"></a>00123 <span class="comment"> * \exception This method must throw an exception with a descriptive message if some critical error is found.</span>
<a name="l00124"></a>00124 <span class="comment"> */</span>
<a name="l00125"></a>00125 <span class="keywordtype">void</span> doProcess();
<a name="l00126"></a>00126 <span class="comment"></span>
<a name="l00127"></a>00127 <span class="comment"> /** Turns on the KVH DSP 3000 device and configure it for getting orientation data. you must have called loadConfig_sensorSpecific before</span>
<a name="l00128"></a>00128 <span class="comment"> * calling this function.</span>
<a name="l00129"></a>00129 <span class="comment"> */</span>
<a name="l00130"></a>00130 <span class="keywordtype">void</span> initialize();<span class="comment"></span>
<a name="l00131"></a>00131 <span class="comment"> /** Send to the sensor the command 'Z' wich reset the integrated angle. (in both rate mode and incremental, this function has no effect) */</span>
<a name="l00132"></a>00132 <span class="keywordtype">void</span> resetIncrementalAngle(<span class="keywordtype">void</span>);
<a name="l00133"></a>00133 <span class="keywordtype">void</span> changeMode(<a class="code" href="namespacemrpt_1_1hwdrivers.html#a3dc4a7356865a37e501b8881429b91e3">GYRO_MODE</a> _newMode);
<a name="l00134"></a>00134
<a name="l00135"></a>00135
<a name="l00136"></a>00136 }; <span class="comment">// end of class</span>
<a name="l00137"></a>00137
<a name="l00138"></a>00138 } <span class="comment">// end of namespace</span>
<a name="l00139"></a>00139 } <span class="comment">// end of namespace</span>
<a name="l00140"></a>00140
<a name="l00141"></a>00141 <span class="preprocessor">#endif</span>
<a name="l00142"></a>00142 <span class="preprocessor"></span>
<a name="l00143"></a>00143
</pre></div></div>
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