Store raw data from a Data Acquisition (DAQ) device, such that input or output analog and digital channels, counters from encoders, etc.
at one sampling instant. All analog values are assumed to be volts. On timing:
Definition at line 30 of file obs/CObservationRawDAQ.h.
#include <mrpt/obs/CObservationRawDAQ.h>
Public Member Functions | |
CObservationRawDAQ () | |
Constructor. | |
virtual | ~CObservationRawDAQ () |
Destructor. | |
void | getSensorPose (mrpt::poses::CPose3D &) const MRPT_OVERRIDE |
Not used in this class. | |
void | setSensorPose (const mrpt::poses::CPose3D &) MRPT_OVERRIDE |
Not used in this class. | |
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 | |
std::vector< uint8_t > | AIN_8bits |
std::vector< uint16_t > | AIN_16bits |
Readings from 8-bit analog input (ADCs) channels (vector length=channel count) in ADC units. | |
std::vector< uint32_t > | AIN_32bits |
Readings from 16-bit analog input (ADCs) channels (vector length=channel count) in ADC units. | |
std::vector< float > | AIN_float |
Readings from 32-bit analog input (ADCs) channels (vector length=channel count) in ADC units. | |
std::vector< double > | AIN_double |
Readings from analog input (ADCs) channels (vector length=channel count) in Volts. | |
uint16_t | AIN_channel_count |
Readings from analog input (ADCs) channels (vector length=channel count) in Volts. | |
bool | AIN_interleaved |
Whether the channels are interleaved (A0 A1 A2 A0 A1 A2...) or not (A0 A0 A0 A1 A1 A1 A2 A2 A2...) in the AIN_* vectors. | |
std::vector< uint8_t > | AOUT_8bits |
std::vector< uint16_t > | AOUT_16bits |
Present output values for 8-bit analog output (DACs) channels (vector length=channel count) in DAC units. | |
std::vector< float > | AOUT_float |
Present output values for 16-bit analog output (DACs) channels (vector length=channel count) in DAC units. | |
std::vector< double > | AOUT_double |
Present output values for 16-bit analog output (DACs) channels (vector length=channel count) in volts. | |
std::vector< uint8_t > | DIN |
Present output values for 16-bit analog output (DACs) channels (vector length=channel count) in volts. | |
std::vector< uint8_t > | DOUT |
Readings from digital inputs; each byte stores 8 digital inputs, or 8-bit port. | |
std::vector< uint32_t > | CNTRIN_32bits |
Present digital output values; each byte stores 8 digital inputs, or 8-bit port. | |
std::vector< double > | CNTRIN_double |
Readings from ticks counters, such as quadrature encoders. | |
double | sample_rate |
Readings from ticks counters, such as quadrature encoders. | |
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 CObservationRawDAQPtr | SmartPtr |
static mrpt::utils::CLASSINIT | _init_CObservationRawDAQ |
static mrpt::utils::TRuntimeClassId | classCObservationRawDAQ |
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 CObservationRawDAQPtr | 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 33 of file obs/CObservationRawDAQ.h.
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inline |
Constructor.
Definition at line 36 of file obs/CObservationRawDAQ.h.
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inlinevirtual |
Destructor.
Definition at line 38 of file obs/CObservationRawDAQ.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 in this class.
Implements mrpt::obs::CObservation.
Definition at line 64 of file obs/CObservationRawDAQ.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 |
Not used in this class.
Implements mrpt::obs::CObservation.
Definition at line 66 of file obs/CObservationRawDAQ.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 33 of file obs/CObservationRawDAQ.h.
std::vector<uint16_t> mrpt::obs::CObservationRawDAQ::AIN_16bits |
Readings from 8-bit analog input (ADCs) channels (vector length=channel count) in ADC units.
Definition at line 42 of file obs/CObservationRawDAQ.h.
std::vector<uint32_t> mrpt::obs::CObservationRawDAQ::AIN_32bits |
Readings from 16-bit analog input (ADCs) channels (vector length=channel count) in ADC units.
Definition at line 43 of file obs/CObservationRawDAQ.h.
std::vector<uint8_t> mrpt::obs::CObservationRawDAQ::AIN_8bits |
Definition at line 41 of file obs/CObservationRawDAQ.h.
uint16_t mrpt::obs::CObservationRawDAQ::AIN_channel_count |
Readings from analog input (ADCs) channels (vector length=channel count) in Volts.
How many different ADC channels are present in the AIN_* vectors.
Definition at line 47 of file obs/CObservationRawDAQ.h.
std::vector<double> mrpt::obs::CObservationRawDAQ::AIN_double |
Readings from analog input (ADCs) channels (vector length=channel count) in Volts.
Definition at line 45 of file obs/CObservationRawDAQ.h.
std::vector<float> mrpt::obs::CObservationRawDAQ::AIN_float |
Readings from 32-bit analog input (ADCs) channels (vector length=channel count) in ADC units.
Definition at line 44 of file obs/CObservationRawDAQ.h.
bool mrpt::obs::CObservationRawDAQ::AIN_interleaved |
Whether the channels are interleaved (A0 A1 A2 A0 A1 A2...) or not (A0 A0 A0 A1 A1 A1 A2 A2 A2...) in the AIN_* vectors.
Definition at line 48 of file obs/CObservationRawDAQ.h.
std::vector<uint16_t> mrpt::obs::CObservationRawDAQ::AOUT_16bits |
Present output values for 8-bit analog output (DACs) channels (vector length=channel count) in DAC units.
Definition at line 51 of file obs/CObservationRawDAQ.h.
std::vector<uint8_t> mrpt::obs::CObservationRawDAQ::AOUT_8bits |
Definition at line 50 of file obs/CObservationRawDAQ.h.
std::vector<double> mrpt::obs::CObservationRawDAQ::AOUT_double |
Present output values for 16-bit analog output (DACs) channels (vector length=channel count) in volts.
Definition at line 53 of file obs/CObservationRawDAQ.h.
std::vector<float> mrpt::obs::CObservationRawDAQ::AOUT_float |
Present output values for 16-bit analog output (DACs) channels (vector length=channel count) in DAC units.
Definition at line 52 of file obs/CObservationRawDAQ.h.
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staticinherited |
Definition at line 50 of file obs/CObservation.h.
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static |
Definition at line 33 of file obs/CObservationRawDAQ.h.
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static |
Definition at line 33 of file obs/CObservationRawDAQ.h.
std::vector<uint32_t> mrpt::obs::CObservationRawDAQ::CNTRIN_32bits |
Present digital output values; each byte stores 8 digital inputs, or 8-bit port.
Definition at line 58 of file obs/CObservationRawDAQ.h.
std::vector<double> mrpt::obs::CObservationRawDAQ::CNTRIN_double |
Readings from ticks counters, such as quadrature encoders.
(vector length=channel count) in ticks.
Definition at line 59 of file obs/CObservationRawDAQ.h.
std::vector<uint8_t> mrpt::obs::CObservationRawDAQ::DIN |
Present output values for 16-bit analog output (DACs) channels (vector length=channel count) in volts.
Definition at line 55 of file obs/CObservationRawDAQ.h.
std::vector<uint8_t> mrpt::obs::CObservationRawDAQ::DOUT |
Readings from digital inputs; each byte stores 8 digital inputs, or 8-bit port.
Definition at line 56 of file obs/CObservationRawDAQ.h.
double mrpt::obs::CObservationRawDAQ::sample_rate |
Readings from ticks counters, such as quadrature encoders.
(vector length=channel count) in radians, degrees or any other unit (depends on the source driver). The sampling rate, in samples per second per channel
Definition at line 61 of file obs/CObservationRawDAQ.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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