This class stores a message from a CAN BUS with the protocol J1939.
Definition at line 26 of file obs/CObservationCANBusJ1939.h.
#include <mrpt/obs/CObservationCANBusJ1939.h>
Public Member Functions | |
CObservationCANBusJ1939 () | |
Constructor. | |
virtual | ~CObservationCANBusJ1939 () |
Destructor. | |
void | getSensorPose (mrpt::poses::CPose3D &) const MRPT_OVERRIDE |
Not used. | |
void | setSensorPose (const mrpt::poses::CPose3D &) MRPT_OVERRIDE |
A general method to change the sensor pose on the robot. | |
void | getDescriptionAsText (std::ostream &o) const MRPT_OVERRIDE |
Build a detailed, multi-line textual description of the observation contents and dump it to the output stream. | |
template<class METRICMAP > | |
bool | insertObservationInto (METRICMAP *theMap, const mrpt::poses::CPose3D *robotPose=NULL) const |
This method is equivalent to: | |
void | getSensorPose (mrpt::math::TPose3D &out_sensorPose) const |
A general method to retrieve the sensor pose on the robot. | |
void | setSensorPose (const mrpt::math::TPose3D &newSensorPose) |
A general method to change the sensor pose on the robot. | |
Delayed-load manual control methods. | |
virtual void | load () const |
Makes sure all images and other fields which may be externally stored are loaded in memory. | |
virtual void | unload () |
Unload all images, for the case they being delayed-load images stored in external files (othewise, has no effect). | |
Public Attributes | |
uint16_t | m_pgn |
The Parameter Group Number within this frame. | |
uint8_t | m_src_address |
The address of the source node within this frame. | |
uint8_t | m_priority |
The priority. | |
uint8_t | m_pdu_format |
PDU Format. | |
uint8_t | m_pdu_spec |
PDU Specific. | |
uint8_t | m_data_length |
Data length | |
std::vector< uint8_t > | m_data |
The data within this frame (0-8 bytes) | |
std::vector< char > | m_raw_frame |
The ASCII frame. | |
Static Public Attributes | |
RTTI stuff <br> | |
static const mrpt::utils::TRuntimeClassId | classCObservation |
Protected Member Functions | |
void | swap (CObservation &o) |
Swap with another observation, ONLY the data defined here in the base class CObservation. It's protected since it'll be only called from child classes that should know what else to swap appart from these common data. | |
CSerializable virtual methods | |
void | writeToStream (mrpt::utils::CStream &out, int *getVersion) const MRPT_OVERRIDE |
void | readFromStream (mrpt::utils::CStream &in, int version) MRPT_OVERRIDE |
RTTI stuff <br> | |
typedef CObservationCANBusJ1939Ptr | SmartPtr |
static mrpt::utils::CLASSINIT | _init_CObservationCANBusJ1939 |
static mrpt::utils::TRuntimeClassId | classCObservationCANBusJ1939 |
static const mrpt::utils::TRuntimeClassId * | classinfo |
static const mrpt::utils::TRuntimeClassId * | _GetBaseClass () |
virtual const mrpt::utils::TRuntimeClassId * | GetRuntimeClass () const MRPT_OVERRIDE |
virtual mrpt::utils::CObject * | duplicate () const MRPT_OVERRIDE |
static mrpt::utils::CObject * | CreateObject () |
static CObservationCANBusJ1939Ptr | Create () |
Data common to any observation | |
mrpt::system::TTimeStamp | timestamp |
The associated UTC time-stamp. Where available, this should contain the accurate satellite-based timestamp of the sensor reading. | |
std::string | sensorLabel |
An arbitrary label that can be used to identify the sensor. | |
mrpt::system::TTimeStamp | getTimeStamp () const |
Returns CObservation::timestamp for all kind of observations. | |
virtual mrpt::system::TTimeStamp | getOriginalReceivedTimeStamp () const |
By default, returns CObservation::timestamp but in sensors capable of satellite (or otherwise) accurate UTC timing of readings, this contains the computer-based timestamp of reception, which may be slightly different than timestamp. | |
A typedef for the associated smart pointer
Definition at line 29 of file obs/CObservationCANBusJ1939.h.
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inline |
Constructor.
Definition at line 34 of file obs/CObservationCANBusJ1939.h.
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inlinevirtual |
Destructor.
Definition at line 40 of file obs/CObservationCANBusJ1939.h.
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staticprotected |
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static |
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static |
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virtual |
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virtual |
Build a detailed, multi-line textual description of the observation contents and dump it to the output stream.
Reimplemented from mrpt::obs::CObservation.
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inlinevirtualinherited |
By default, returns CObservation::timestamp but in sensors capable of satellite (or otherwise) accurate UTC timing of readings, this contains the computer-based timestamp of reception, which may be slightly different than timestamp.
Reimplemented in mrpt::obs::CObservationGPS, and mrpt::obs::CObservationVelodyneScan.
Definition at line 65 of file obs/CObservation.h.
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virtual |
Reimplemented from mrpt::obs::CObservation.
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inherited |
A general method to retrieve the sensor pose on the robot.
Note that most sensors will return a full (6D) CPose3D, but see the derived classes for more details or special cases.
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inlinevirtual |
Not used.
Implements mrpt::obs::CObservation.
Definition at line 68 of file obs/CObservationCANBusJ1939.h.
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inlineinherited |
Returns CObservation::timestamp for all kind of observations.
Definition at line 63 of file obs/CObservation.h.
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inlineinherited |
This method is equivalent to:
theMap | The map where this observation is to be inserted: the map will be updated. |
robotPose | The pose of the robot base for this observation, relative to the target metric map. Set to NULL (default) to use (0,0,0deg) |
Definition at line 83 of file obs/CObservation.h.
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inlinevirtualinherited |
Makes sure all images and other fields which may be externally stored are loaded in memory.
Note that for all CImages, calling load() is not required since the images will be automatically loaded upon first access, so load() shouldn't be needed to be called in normal cases by the user. If all the data were alredy loaded or this object has no externally stored data fields, calling this method has no effects.
Reimplemented in mrpt::obs::CObservation3DRangeScan.
Definition at line 125 of file obs/CObservation.h.
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protected |
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inherited |
A general method to change the sensor pose on the robot.
Note that most sensors will use the full (6D) CPose3D, but see the derived classes for more details or special cases.
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inlinevirtual |
A general method to change the sensor pose on the robot.
Note that most sensors will use the full (6D) CPose3D, but see the derived classes for more details or special cases.
Implements mrpt::obs::CObservation.
Definition at line 69 of file obs/CObservationCANBusJ1939.h.
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protectedinherited |
Swap with another observation, ONLY the data defined here in the base class CObservation. It's protected since it'll be only called from child classes that should know what else to swap appart from these common data.
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inlinevirtualinherited |
Unload all images, for the case they being delayed-load images stored in external files (othewise, has no effect).
Reimplemented in mrpt::obs::CObservation3DRangeScan.
Definition at line 129 of file obs/CObservation.h.
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protected |
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staticprotected |
Definition at line 29 of file obs/CObservationCANBusJ1939.h.
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staticinherited |
Definition at line 50 of file obs/CObservation.h.
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static |
Definition at line 29 of file obs/CObservationCANBusJ1939.h.
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static |
Definition at line 29 of file obs/CObservationCANBusJ1939.h.
std::vector<uint8_t> mrpt::obs::CObservationCANBusJ1939::m_data |
The data within this frame (0-8 bytes)
Definition at line 62 of file obs/CObservationCANBusJ1939.h.
uint8_t mrpt::obs::CObservationCANBusJ1939::m_data_length |
Data length
Definition at line 59 of file obs/CObservationCANBusJ1939.h.
uint8_t mrpt::obs::CObservationCANBusJ1939::m_pdu_format |
PDU Format.
Definition at line 53 of file obs/CObservationCANBusJ1939.h.
uint8_t mrpt::obs::CObservationCANBusJ1939::m_pdu_spec |
PDU Specific.
Definition at line 56 of file obs/CObservationCANBusJ1939.h.
uint16_t mrpt::obs::CObservationCANBusJ1939::m_pgn |
The Parameter Group Number within this frame.
Definition at line 44 of file obs/CObservationCANBusJ1939.h.
uint8_t mrpt::obs::CObservationCANBusJ1939::m_priority |
The priority.
Definition at line 50 of file obs/CObservationCANBusJ1939.h.
std::vector<char> mrpt::obs::CObservationCANBusJ1939::m_raw_frame |
The ASCII frame.
Definition at line 65 of file obs/CObservationCANBusJ1939.h.
uint8_t mrpt::obs::CObservationCANBusJ1939::m_src_address |
The address of the source node within this frame.
Definition at line 47 of file obs/CObservationCANBusJ1939.h.
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inherited |
An arbitrary label that can be used to identify the sensor.
Definition at line 60 of file obs/CObservation.h.
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inherited |
The associated UTC time-stamp. Where available, this should contain the accurate satellite-based timestamp of the sensor reading.
Definition at line 59 of file obs/CObservation.h.
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