Main MRPT website > C++ reference
MRPT logo
Public Types | Public Member Functions | Static Public Member Functions | Protected Member Functions | Protected Attributes
mrpt::hwdrivers::CGyroKVHDSP3000 Class Reference
[mrpt-hwdrivers]

Detailed Description

A class for interfacing KVH DSP 3000 gyroscope with an assynchronous serial communication (product SN : 02-1222-01).

It uses a serial port connection to the device. The class implements the generic sensor class. See also the application "rawlog-grabber" for a ready-to-use application to gather data from the scanner. The generated observation is a CObservationIMU, but only the yaw angular velocity and the absolute yaw position are are set in the vector CObservationIMU::rawMeasurements. The sensor process rate is imposed by hardware at 100Hz. For now, this sensor is only supported on posix system. 

  PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
 -------------------------------------------------------
   [supplied_section_name]
    process_rate = 100                          ; MUST be 100 Hz.
    pose_x=0        ; Sensor 3D position relative to the robot (meters)
    pose_y=0
    pose_z=0
    pose_yaw=0  ; Angles in degrees
    pose_pitch=0
    pose_roll=0
    sensorLabel = <label> ; Label of the sensor
    COM_port_LIN        = /dev/ttyUSB0       ; COM PORT in LINUX 
    operatingMode = <"rate"/"integrated", "incremental">  ; Default mode is Rate.

In most of the communs applications, this class will be used as : 

 CGyroKVHDSP3000 kvh;
 /// ...
 CConfigFile conf("conf.ini");
 /// ...
 kvh.loadConfig_sensorSpecific(conf, "KVH");
 /// ...
 while(1) {
        kvh.doProcess();
                TListObservations rateObs;
        kvh.getObservations(rateObs);
                // ....

#include <mrpt/hwdrivers/CGyroKVHDSP3000.h>

Inheritance diagram for mrpt::hwdrivers::CGyroKVHDSP3000:
Inheritance graph
[legend]

List of all members.

Public Types

enum  TSensorState { ssInitializing = 0, ssWorking, ssError }
 The current state of the sensor. More...
typedef std::multimap
< mrpt::system::TTimeStamp,
mrpt::utils::CSerializablePtr > 		TListObservations
typedef std::pair
< mrpt::system::TTimeStamp,
mrpt::utils::CSerializablePtr > 		TListObsPair

Public Member Functions

 CGyroKVHDSP3000 ()
 Constructor.
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, for example, an ".ini" file, loading from the section "[iniSection]" (see utils::CConfigFileBase and derived classes) See hwdrivers::CGyroKVHDSP3000 for the possible parameters.
virtual ~CGyroKVHDSP3000 ()
 Destructor.
void doProcess ()
 This method will be invoked at a minimum rate of "process_rate" (Hz)

Exceptions:
Thismethod must throw an exception with a descriptive message if some critical error is found.

void initialize ()
 Turns on the KVH DSP 3000 device and configure it for getting orientation data.
void resetIncrementalAngle (void)
 Send to the sensor the command 'Z' wich reset the integrated angle.
void changeMode (GYRO_MODE _newMode)
virtual const
mrpt::hwdrivers::TSensorClassId * 		GetRuntimeClass () const =0
TSensorState getState () const
 The current state of the sensor.
double getProcessRate () const
std::string getSensorLabel () const
void setSensorLabel (const std::string &sensorLabel)
void loadConfig (const mrpt::utils::CConfigFileBase &configSource, const std::string &section)
 Loads the generic settings common to any sensor (See CGenericSensor), then call to "loadConfig_sensorSpecific"

Exceptions:
Thismethod throws an exception with a descriptive message if some critical parameter is missing or has an invalid value.

void getObservations (TListObservations &lstObjects)
 Returns a list of enqueued objects, emptying it (thread-safe).
virtual void setPathForExternalImages (const std::string &directory)
 Set the path where to save off-rawlog image files (will be ignored in those sensors where this is not applicable).
void setExternalImageFormat (const std::string &ext)
 Set the extension ("jpg","gif","png",...) that determines the format of images saved externally The default is "jpg".
void setExternalImageJPEGQuality (const unsigned int quality)
 The quality of JPEG compression, when external images is enabled and the format is "jpg".
unsigned int getExternalImageJPEGQuality () const

Static Public Member Functions

static void registerClass (const TSensorClassId *pNewClass)
 Register a class into the internal list of "CGenericSensor" descendents.
static CGenericSensor * createSensor (const std::string &className)
 Creates a sensor by a name of the class.
static CGenericSensorPtr createSensorPtr (const std::string &className)
 Just like createSensor, but returning a smart pointer to the newly created sensor object.

Protected Member Functions

bool searchPortAndConnect ()
 Search the port where the sensor is located and connect to it.
void appendObservations (const std::vector< mrpt::utils::CSerializablePtr > &obj)
 This method must be called by derived classes to enqueue a new observation in the list to be returned by getObservations.
void appendObservation (const mrpt::utils::CSerializablePtr &obj)
 Like appendObservations() but for just one observation.

Protected Attributes

int m_COMbauds
 This serial port will be attempted to be opened automatically when this class is first used to request data from the device.
std::string m_com_port
mrpt::poses::CPose3D m_sensorPose
CSerialPort * m_serialPort
 The serial port connection.
GYRO_MODE m_mode
bool m_firstInteration
mrpt::slam::CObservationIMUPtr m_observationGyro
size_t m_grab_decimation_counter
 Used when "m_grab_decimation" is enabled.
TSensorState m_state
std::string m_path_for_external_images
 The path where to save off-rawlog images: empty means save images embedded in the rawlog.
std::string m_external_images_format
 The extension ("jpg","gif","png",...) that determines the format of images saved externally.
unsigned int m_external_images_jpeg_quality
 For JPEG images, the quality (default=95%).
Common settings to any sensor, loaded in "loadConfig"
double m_process_rate
 See CGenericSensor.
size_t m_max_queue_len
 See CGenericSensor.
size_t m_grab_decimation
 If set to N>=2, only 1 out of N observations will be saved to m_objList.
std::string m_sensorLabel
 See CGenericSensor.

Member Typedef Documentation

typedef std::multimap< mrpt::system::TTimeStamp, mrpt::utils::CSerializablePtr > mrpt::hwdrivers::CGenericSensor::TListObservations [inherited]

Definition at line 84 of file CGenericSensor.h.

typedef std::pair< mrpt::system::TTimeStamp, mrpt::utils::CSerializablePtr > mrpt::hwdrivers::CGenericSensor::TListObsPair [inherited]

Definition at line 85 of file CGenericSensor.h.

Member Enumeration Documentation

enum mrpt::hwdrivers::CGenericSensor::TSensorState [inherited]

The current state of the sensor.

See also:
CGenericSensor::getState
Enumerator:
ssInitializing 
ssWorking 
ssError 

Definition at line 90 of file CGenericSensor.h.

Constructor & Destructor Documentation

mrpt::hwdrivers::CGyroKVHDSP3000::CGyroKVHDSP3000 ( )

Constructor.

virtual mrpt::hwdrivers::CGyroKVHDSP3000::~CGyroKVHDSP3000 ( ) [virtual]

Destructor.

Member Function Documentation

void mrpt::hwdrivers::CGenericSensor::appendObservation ( const mrpt::utils::CSerializablePtr &  obj) [inline, protected, inherited]

Like appendObservations() but for just one observation.

Definition at line 155 of file CGenericSensor.h.

void mrpt::hwdrivers::CGenericSensor::appendObservations ( const std::vector< mrpt::utils::CSerializablePtr > &  obj) [protected, inherited]

This method must be called by derived classes to enqueue a new observation in the list to be returned by getObservations.

Passed objects must be created in dynamic memory and a smart pointer passed. Example of creation: 

                                CObservationGPSPtr  o = CObservationGPSPtr( new CObservationGPS() );
                                o-> .... // Set data
                                appendObservation(o);

If several observations are passed at once in the vector, they'll be considered as a block regarding the grabbing decimation factor.

void mrpt::hwdrivers::CGyroKVHDSP3000::changeMode ( GYRO_MODE  _newMode)
static CGenericSensor* mrpt::hwdrivers::CGenericSensor::createSensor ( const std::string &  className) [static, inherited]

Creates a sensor by a name of the class.

Typically the user may want to create a smart pointer around the returned pointer, whis is made with: 

   CGenericSensorPtr sensor = CGenericSensorPtr( CGenericSensor::createSensor("XXX") );
Returns:
A pointer to a new class, or NULL if class name is unknown.
static CGenericSensorPtr mrpt::hwdrivers::CGenericSensor::createSensorPtr ( const std::string &  className) [inline, static, inherited]

Just like createSensor, but returning a smart pointer to the newly created sensor object.

Definition at line 188 of file CGenericSensor.h.

void mrpt::hwdrivers::CGyroKVHDSP3000::doProcess ( ) [virtual]

This method will be invoked at a minimum rate of "process_rate" (Hz)

Exceptions:
Thismethod must throw an exception with a descriptive message if some critical error is found.

Implements mrpt::hwdrivers::CGenericSensor.

unsigned int mrpt::hwdrivers::CGenericSensor::getExternalImageJPEGQuality ( ) const [inline, inherited]

Definition at line 241 of file CGenericSensor.h.

void mrpt::hwdrivers::CGenericSensor::getObservations ( TListObservations &  lstObjects) [inherited]

Returns a list of enqueued objects, emptying it (thread-safe).

The objects must be freed by the invoker.

double mrpt::hwdrivers::CGenericSensor::getProcessRate ( ) const [inline, inherited]

Definition at line 100 of file CGenericSensor.h.

virtual const mrpt::hwdrivers::TSensorClassId* mrpt::hwdrivers::CGenericSensor::GetRuntimeClass ( ) const [pure virtual, inherited]
std::string mrpt::hwdrivers::CGenericSensor::getSensorLabel ( ) const [inline, inherited]

Definition at line 102 of file CGenericSensor.h.

TSensorState mrpt::hwdrivers::CGenericSensor::getState ( ) const [inline, inherited]

The current state of the sensor.

Definition at line 98 of file CGenericSensor.h.

void mrpt::hwdrivers::CGyroKVHDSP3000::initialize ( ) [virtual]

Turns on the KVH DSP 3000 device and configure it for getting orientation data.

you must have called loadConfig_sensorSpecific before calling this function.

Reimplemented from mrpt::hwdrivers::CGenericSensor.

void mrpt::hwdrivers::CGenericSensor::loadConfig ( const mrpt::utils::CConfigFileBase &  configSource,
const std::string &  section 
) [inherited]

Loads the generic settings common to any sensor (See CGenericSensor), then call to "loadConfig_sensorSpecific"

Exceptions:
Thismethod throws an exception with a descriptive message if some critical parameter is missing or has an invalid value.

void mrpt::hwdrivers::CGyroKVHDSP3000::loadConfig_sensorSpecific ( const mrpt::utils::CConfigFileBase &  configSource,
const std::string &  iniSection 
) [virtual]

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) See hwdrivers::CGyroKVHDSP3000 for the possible parameters.

Implements mrpt::hwdrivers::CGenericSensor.

static void mrpt::hwdrivers::CGenericSensor::registerClass ( const TSensorClassId *  pNewClass) [static, inherited]

Register a class into the internal list of "CGenericSensor" descendents.

Used internally in the macros DEFINE_GENERIC_SENSOR, etc...

Can be used as "CGenericSensor::registerClass( SENSOR_CLASS_ID(CMySensor) );" if building custom sensors outside mrpt libraries in user code.

void mrpt::hwdrivers::CGyroKVHDSP3000::resetIncrementalAngle ( void  )

Send to the sensor the command 'Z' wich reset the integrated angle.

(in both rate mode and incremental, this function has no effect)

bool mrpt::hwdrivers::CGyroKVHDSP3000::searchPortAndConnect ( ) [protected]

Search the port where the sensor is located and connect to it.

void mrpt::hwdrivers::CGenericSensor::setExternalImageFormat ( const std::string &  ext) [inline, inherited]

Set the extension ("jpg","gif","png",...) that determines the format of images saved externally The default is "jpg".

See also:
setPathForExternalImages, setExternalImageJPEGQuality

Definition at line 233 of file CGenericSensor.h.

void mrpt::hwdrivers::CGenericSensor::setExternalImageJPEGQuality ( const unsigned int  quality) [inline, inherited]

The quality of JPEG compression, when external images is enabled and the format is "jpg".

See also:
setExternalImageFormat

Definition at line 238 of file CGenericSensor.h.

virtual void mrpt::hwdrivers::CGenericSensor::setPathForExternalImages ( const std::string &  directory) [inline, virtual, inherited]

Set the path where to save off-rawlog image files (will be ignored in those sensors where this is not applicable).

An empty string (the default value at construction) means to save images embedded in the rawlog, instead of on separate files.

Exceptions:
std::exceptionIf the directory doesn't exists and cannot be created.

Reimplemented in mrpt::hwdrivers::CKinect, mrpt::hwdrivers::CCameraSensor, and mrpt::hwdrivers::CSwissRanger3DCamera.

Definition at line 225 of file CGenericSensor.h.

void mrpt::hwdrivers::CGenericSensor::setSensorLabel ( const std::string &  sensorLabel) [inline, inherited]

Definition at line 103 of file CGenericSensor.h.

Member Data Documentation

std::string mrpt::hwdrivers::CGyroKVHDSP3000::m_com_port [protected]

Definition at line 91 of file CGyroKVHDSP3000.h.

int mrpt::hwdrivers::CGyroKVHDSP3000::m_COMbauds [protected]

This serial port will be attempted to be opened automatically when this class is first used to request data from the device.

See also:
hwdrivers::CSerialPort

Definition at line 90 of file CGyroKVHDSP3000.h.

std::string mrpt::hwdrivers::CGenericSensor::m_external_images_format [protected, inherited]

The extension ("jpg","gif","png",...) that determines the format of images saved externally.

See also:
setPathForExternalImages

Definition at line 139 of file CGenericSensor.h.

unsigned int mrpt::hwdrivers::CGenericSensor::m_external_images_jpeg_quality [protected, inherited]

For JPEG images, the quality (default=95%).

Definition at line 140 of file CGenericSensor.h.

bool mrpt::hwdrivers::CGyroKVHDSP3000::m_firstInteration [protected]

Definition at line 101 of file CGyroKVHDSP3000.h.

size_t mrpt::hwdrivers::CGenericSensor::m_grab_decimation [protected, inherited]

If set to N>=2, only 1 out of N observations will be saved to m_objList.

Definition at line 127 of file CGenericSensor.h.

size_t mrpt::hwdrivers::CGenericSensor::m_grab_decimation_counter [protected, inherited]

Used when "m_grab_decimation" is enabled.

Definition at line 132 of file CGenericSensor.h.

size_t mrpt::hwdrivers::CGenericSensor::m_max_queue_len [protected, inherited]

See CGenericSensor.

Definition at line 126 of file CGenericSensor.h.

GYRO_MODE mrpt::hwdrivers::CGyroKVHDSP3000::m_mode [protected]

Definition at line 100 of file CGyroKVHDSP3000.h.

mrpt::slam::CObservationIMUPtr mrpt::hwdrivers::CGyroKVHDSP3000::m_observationGyro [protected]

Definition at line 103 of file CGyroKVHDSP3000.h.

std::string mrpt::hwdrivers::CGenericSensor::m_path_for_external_images [protected, inherited]

The path where to save off-rawlog images: empty means save images embedded in the rawlog.

Definition at line 138 of file CGenericSensor.h.

double mrpt::hwdrivers::CGenericSensor::m_process_rate [protected, inherited]

See CGenericSensor.

Definition at line 125 of file CGenericSensor.h.

std::string mrpt::hwdrivers::CGenericSensor::m_sensorLabel [protected, inherited]

See CGenericSensor.

Definition at line 128 of file CGenericSensor.h.

mrpt::poses::CPose3D mrpt::hwdrivers::CGyroKVHDSP3000::m_sensorPose [protected]

Definition at line 93 of file CGyroKVHDSP3000.h.

CSerialPort* mrpt::hwdrivers::CGyroKVHDSP3000::m_serialPort [protected]

The serial port connection.

Definition at line 99 of file CGyroKVHDSP3000.h.

TSensorState mrpt::hwdrivers::CGenericSensor::m_state [protected, inherited]

Definition at line 134 of file CGenericSensor.h.



Page generated by Doxygen 1.7.5 for MRPT 0.9.5 SVN: at Thu Oct 13 21:25:36 UTC 2011