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CRoboticHeadInterface.h
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1/* +---------------------------------------------------------------------------+
2 | Mobile Robot Programming Toolkit (MRPT) |
3 | http://www.mrpt.org/ |
4 | |
5 | Copyright (c) 2005-2016, Individual contributors, see AUTHORS file |
6 | See: http://www.mrpt.org/Authors - All rights reserved. |
7 | Released under BSD License. See details in http://www.mrpt.org/License |
8 +---------------------------------------------------------------------------+ */
9
10#ifndef CRoboticHeadInterface_H
11#define CRoboticHeadInterface_H
12
15#include <mrpt/utils/CMessage.h>
16#include <mrpt/synch.h>
21
22
23namespace mrpt
24{
25 namespace hwdrivers
26 {
27 /** This "software driver" implements the communication protocol for interfacing a Robotic Head Board through a custom
28 * USB RS-422 interface board.
29 * In this class the "bind" is ignored since it is designed for USB connections only, thus it internally generate the required object for simplicity of use.
30 * The default serial number is "OREJA001"
31 *
32 * Warning: Avoid defining an object of this class in a global scope if you want to catch all potential
33 * exceptions during the constructors (like USB interface DLL not found, etc...)
34 *
35 * \code
36 * PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
37 * -------------------------------------------------------
38 * [supplied_section_name]
39 * HEAD_serialNumber=OREJA001
40 * HEAD_gain=127,127,127
41 * HEAD_yaw=0 // initial yaw value
42 * HEAD_pitch=0 // initial tilt
43 * \endcode
44 * \ingroup mrpt_hwdrivers_grp
45 */
47 {
48 private:
51 std::string m_serialNumber;
52 std::vector<int32_t> gain;
53 int head_yaw, head_pitch;
54
56
57 protected:
58 /** Loads specific configuration for the device from a given source of configuration parameters, for example, an ".ini" file,
59 * loading from the section "[iniSection]" (see utils::CConfigFileBase and derived classes)
60 * See hwdrivers::CSonarSRF10 for the possible parameters
61 */
63 const std::string &iniSection );
64
65 public:
66 /** Constructor
67 */
69
70 /** Destructor
71 */
73
74 /** Changes the serial number of the device to open
75 */
76 void setDeviceSerialNumber(const std::string &deviceSerialNumber)
77 {
78 m_serialNumber = deviceSerialNumber;
79 }
80
81 /** Read the gain for the amplifier of the ear "channel", where channel is 0, 1 or 2.
82 */
83 void GetGain(int &_gain,int &channel);
84
85 /** Set the gain for the amplifier each ear. The value range is [0x00(min) .. 0x7F(max)]. The value 0x80 set the resistor
86 * in high impedance state, DON'T USE IT!!!
87 */
88 bool SetGain(int &new_gain,int &channel);
89
90 /** This function return the angle where last sound where detected. This angle is related to the robot pose, NOT head pose.
91 * \code
92 * angle > 0deg --> Sound detected in the left
93 * angle = 0deg --> Sound detected in front of the head
94 * angle < 0deg --> Sound detected in the right
95 * \endcode
96 */
97 void GetSoundLocation(int &ang);
98
99 /** Debug only!!! This function return the last 500 acquired samples for each sound channel.
100 *
101 */
103
104 /** Move the head in:
105 \code
106 * elevation = 'yaw' degrees
107 * orientation = 'pitch' degrees
108 * \endcode
109 */
110 void SetHeadPose(int &yaw, int &pitch);
111
112 }; // End of class
113
114 } // End of namespace
115} // end of namespace
116
117#endif
118
A definition of a CStream actually representing a USB connection to a FTDI chip.
This "software driver" implements the communication protocol for interfacing a Robotic Head Board thr...
void GetGain(int &_gain, int &channel)
Read the gain for the amplifier of the ear "channel", where channel is 0, 1 or 2.
bool SetGain(int &new_gain, int &channel)
Set the gain for the amplifier each ear.
void SetHeadPose(int &yaw, int &pitch)
Move the head in:
void GetSoundLocation(int &ang)
This function return the angle where last sound where detected.
void setDeviceSerialNumber(const std::string &deviceSerialNumber)
Changes the serial number of the device to open.
void Get3SoundBuffer(mrpt::math::CMatrixTemplate< int > &buf)
Debug only!!! This function return the last 500 acquired samples for each sound channel.
void loadConfig_sensorSpecific(const mrpt::utils::CConfigFileBase *configSource, const std::string &iniSection)
Loads specific configuration for the device from a given source of configuration parameters,...
This template class provides the basic functionality for a general 2D any-size, resizable container o...
This class allows loading and storing values and vectors of different types from a configuration text...
This base class provides a common printf-like method to send debug information to std::cout,...
A class that contain generic messages, that can be sent and received from a "CClientTCPSocket" object...
Definition CMessage.h:33
#define HWDRIVERS_IMPEXP
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.



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