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CIMUXSens.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 CIMUXSens_H
11#define CIMUXSens_H
12
13
16
17#include <mrpt/poses/CPose3D.h>
18
19namespace mrpt
20{
21 namespace hwdrivers
22 {
23
24 /** A class for interfacing XSens 3rd generation Inertial Measuring Units (IMUs), the "XSens MTi" model.
25 * It uses a serial port or USB-to-serial adapter to communicate to the device, so no special drivers are needed.
26 * For the more recent 4th generation devices, see the class mrpt::hwdrivers::CIMUXSens_MT4
27 *
28 * See also the application "rawlog-grabber" for a ready-to-use application to gather data from the scanner.
29 *
30 * \code
31 * PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
32 * -------------------------------------------------------
33 * [supplied_section_name]
34 * pose_x=0 ; Sensor 3D position relative to the robot (meters)
35 * pose_y=0
36 * pose_z=0
37 * pose_yaw=0 ; Angles in degrees
38 * pose_pitch=0
39 * pose_roll=0
40 * sensorLabel = <label> ; Label of the sensor
41 * COM_port_LIN = /dev/ttyUSB0 ; COM PORT in LINUX (optional. If not provided, the system will search the connected port)
42 * COM_port_WIN = COM1 ; COM PORT in Windows (optional. If not provided, the system will search the connected port)
43 * baudRate ; Baudrate for communicating with the COM port (mandatory for Linux)
44 * (for Windows, if COM_port_WIN is not provided, this value is ignored)
45 * \endcode
46 * \ingroup mrpt_hwdrivers_grp
47 */
49 {
51 protected:
52
53 /** This serial port will be attempted to be opened automatically when this class is first used to request data from the device.
54 * \sa hwdrivers::CSerialPort
55 */
57 std::string m_com_port;
58 uint64_t m_timeStartUI;
60
62
63 /** Search the port where the sensor is located and connect to it
64 */
66
67 //CSerialPort m_serial_port; //!< The serial port connection
68
69 void * /*xsens::Cmt3 */ m_cmt3_ptr;
70 void * /*CmtDeviceId */ m_deviceId_ptr;
71 unsigned int m_toutCounter; //!< Timeout counter (for internal use only)
72
73 /** See the class documentation at the top for expected parameters */
75 const mrpt::utils::CConfigFileBase &configSource,
76 const std::string &iniSection );
77
78 public:
79 /** Constructor
80 */
82
83 /** Destructor
84 */
85 virtual ~CIMUXSens();
86
87
88 /** This method will be invoked at a minimum rate of "process_rate" (Hz)
89 * \exception This method must throw an exception with a descriptive message if some critical error is found.
90 */
91 void doProcess();
92
93 /** Turns on the xSens device and configure it for getting orientation data */
94 void initialize();
95
96 }; // end of class
97
98 } // end of namespace
99} // end of namespace
100
101#endif
102
103
#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.
Definition: CIMUXSens.h:49
virtual ~CIMUXSens()
Destructor.
mrpt::system::TTimeStamp m_timeStartTT
Definition: CIMUXSens.h:59
void doProcess()
This method will be invoked at a minimum rate of "process_rate" (Hz)
mrpt::poses::CPose3D m_sensorPose
Definition: CIMUXSens.h:61
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...
Definition: CIMUXSens.h:56
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)
Definition: CIMUXSens.h:71
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
Definition: CPose3D.h:73
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,...
Definition: datetime.h:30
#define HWDRIVERS_IMPEXP
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.



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