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);
            // ....

Definition at line 82 of file CGyroKVHDSP3000.h.

#include <mrpt/hwdrivers/CGyroKVHDSP3000.h>

Inheritance diagram for mrpt::hwdrivers::CGyroKVHDSP3000:

[legend]

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

This	method 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

This	method 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 )

inlineprotectedinherited

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 )

protectedinherited

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 )

staticinherited

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 )

inlinestaticinherited

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

This	method 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

inlineinherited

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

inlineinherited

Definition at line 100 of file CGenericSensor.h.

virtual const mrpt::hwdrivers::TSensorClassId* mrpt::hwdrivers::CGenericSensor::GetRuntimeClass ( ) const

pure virtualinherited

std::string mrpt::hwdrivers::CGenericSensor::getSensorLabel ( ) const

inlineinherited

Definition at line 102 of file CGenericSensor.h.

TSensorState mrpt::hwdrivers::CGenericSensor::getState ( ) const

inlineinherited

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

This	method 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 )

staticinherited

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.

Referenced by mrpt::hwdrivers::CGenericSensor::CLASSINIT_GENERIC_SENSOR::CLASSINIT_GENERIC_SENSOR().

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 )

inlineinherited

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 )

inlineinherited

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 )

inlinevirtualinherited

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::exception If 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 )

inlineinherited

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

protectedinherited

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

protectedinherited

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

protectedinherited

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

protectedinherited

Used when "m_grab_decimation" is enabled.

Definition at line 132 of file CGenericSensor.h.

size_t mrpt::hwdrivers::CGenericSensor::m_max_queue_len

protectedinherited

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

protectedinherited

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

protectedinherited

See CGenericSensor.

Definition at line 125 of file CGenericSensor.h.

std::string mrpt::hwdrivers::CGenericSensor::m_sensorLabel

protectedinherited

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

protectedinherited

Definition at line 134 of file CGenericSensor.h.

Detailed Description

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Member Typedef Documentation

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation