00001 /* +---------------------------------------------------------------------------+ 00002 | The Mobile Robot Programming Toolkit (MRPT) C++ library | 00003 | | 00004 | http://www.mrpt.org/ | 00005 | | 00006 | Copyright (C) 2005-2011 University of Malaga | 00007 | | 00008 | This software was written by the Machine Perception and Intelligent | 00009 | Robotics Lab, University of Malaga (Spain). | 00010 | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> | 00011 | | 00012 | This file is part of the MRPT project. | 00013 | | 00014 | MRPT is free software: you can redistribute it and/or modify | 00015 | it under the terms of the GNU General Public License as published by | 00016 | the Free Software Foundation, either version 3 of the License, or | 00017 | (at your option) any later version. | 00018 | | 00019 | MRPT is distributed in the hope that it will be useful, | 00020 | but WITHOUT ANY WARRANTY; without even the implied warranty of | 00021 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | 00022 | GNU General Public License for more details. | 00023 | | 00024 | You should have received a copy of the GNU General Public License | 00025 | along with MRPT. If not, see <http://www.gnu.org/licenses/>. | 00026 | | 00027 +---------------------------------------------------------------------------+ */ 00028 00029 #ifndef CIMUXSens_H 00030 #define CIMUXSens_H 00031 00032 00033 #include <mrpt/hwdrivers/CGenericSensor.h> 00034 #include <mrpt/hwdrivers/CSerialPort.h> 00035 00036 #include <mrpt/poses/CPose3D.h> 00037 00038 namespace mrpt 00039 { 00040 namespace hwdrivers 00041 { 00042 00043 /** A class for interfacing Inertial Measuring Units (IMUs) of the type "XSens MTi" 00044 * It uses a serial port connection to the device. The class implements the generic 00045 * See also the application "rawlog-grabber" for a ready-to-use application to gather data from the scanner. 00046 * 00047 * \code 00048 * PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS: 00049 * ------------------------------------------------------- 00050 * [supplied_section_name] 00051 * pose_x=0 ; Sensor 3D position relative to the robot (meters) 00052 * pose_y=0 00053 * pose_z=0 00054 * pose_yaw=0 ; Angles in degrees 00055 * pose_pitch=0 00056 * pose_roll=0 00057 * sensorLabel = <label> ; Label of the sensor 00058 * COM_port_LIN = /dev/ttyUSB0 ; COM PORT in LINUX (optional. If not provided, the system will search the connected port) 00059 * COM_port_WIN = COM1 ; COM PORT in Windows (optional. If not provided, the system will search the connected port) 00060 * baudRate ; Baudrate for communicating with the COM port (mandatory for Linux) 00061 * (for Windows, if COM_port_WIN is not provided, this value is ignored) 00062 * \endcode 00063 * \ingroup mrpt_hwdrivers_grp 00064 */ 00065 class HWDRIVERS_IMPEXP CIMUXSens : public hwdrivers::CGenericSensor 00066 { 00067 DEFINE_GENERIC_SENSOR(CIMUXSens) 00068 protected: 00069 00070 /** This serial port will be attempted to be opened automatically when this class is first used to request data from the device. 00071 * \sa hwdrivers::CSerialPort 00072 */ 00073 int m_COMbauds; 00074 std::string m_com_port; 00075 uint64_t m_timeStartUI; 00076 mrpt::system::TTimeStamp m_timeStartTT; 00077 00078 mrpt::poses::CPose3D m_sensorPose; 00079 00080 /** Search the port where the sensor is located and connect to it 00081 */ 00082 bool searchPortAndConnect(); 00083 00084 //CSerialPort m_serial_port; //!< The serial port connection 00085 00086 void * /*xsens::Cmt3 */ m_cmt3_ptr; 00087 void * /*CmtDeviceId */ m_deviceId_ptr; 00088 unsigned int m_toutCounter; //!< Timeout counter (for internal use only) 00089 00090 /** Loads specific configuration for the device from a given source of configuration parameters, for example, an ".ini" file, loading from the section "[iniSection]" (see utils::CConfigFileBase and derived classes) 00091 * See hwdrivers::CIMUXSens for the possible parameters 00092 */ 00093 void loadConfig_sensorSpecific( 00094 const mrpt::utils::CConfigFileBase &configSource, 00095 const std::string &iniSection ); 00096 00097 public: 00098 /** Constructor 00099 */ 00100 CIMUXSens( ); 00101 00102 /** Destructor 00103 */ 00104 virtual ~CIMUXSens(); 00105 00106 00107 /** This method will be invoked at a minimum rate of "process_rate" (Hz) 00108 * \exception This method must throw an exception with a descriptive message if some critical error is found. 00109 */ 00110 void doProcess(); 00111 00112 /** Turns on the xSens device and configure it for getting orientation data */ 00113 void initialize(); 00114 00115 }; // end of class 00116 00117 } // end of namespace 00118 } // end of namespace 00119 00120 #endif 00121 00122
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