76 const std::string &iniSection );
#define DEFINE_GENERIC_SENSOR(class_name)
This declaration must be inserted in all CGenericSensor classes definition, within the class declarat...
A generic interface for a wide-variety of sensors designed to be used in the application RawLogGrabbe...
A class for interfacing XSens 3rd generation Inertial Measuring Units (IMUs), the "XSens MTi" model.
virtual ~CIMUXSens()
Destructor.
mrpt::system::TTimeStamp m_timeStartTT
void doProcess()
This method will be invoked at a minimum rate of "process_rate" (Hz)
mrpt::poses::CPose3D m_sensorPose
bool searchPortAndConnect()
Search the port where the sensor is located and connect to it.
int m_COMbauds
This serial port will be attempted to be opened automatically when this class is first used to reques...
void initialize()
Turns on the xSens device and configure it for getting orientation data.
void loadConfig_sensorSpecific(const mrpt::utils::CConfigFileBase &configSource, const std::string &iniSection)
See the class documentation at the top for expected parameters.
unsigned int m_toutCounter
Timeout counter (for internal use only)
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
This class allows loading and storing values and vectors of different types from a configuration text...
uint64_t TTimeStamp
A system independent time type, it holds the the number of 100-nanosecond intervals since January 1,...
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.