Detailed Description

A class for interfacing XSens 3rd generation Inertial Measuring Units (IMUs), the "XSens MTi" model.

It uses a serial port or USB-to-serial adapter to communicate to the device, so no special drivers are needed. For the more recent 4th generation devices, see the class mrpt::hwdrivers::CIMUXSens_MT4

See also the application "rawlog-grabber" for a ready-to-use application to gather data from the scanner.

   PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
  -------------------------------------------------------
    [supplied_section_name]
     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 (optional. If not
*provided, the system will search the connected port)
       COM_port_WIN = COM1               ; COM PORT in Windows (optional. If not
*provided, the system will search the connected port)
       baudRate                          ; Baudrate for communicating with the
*COM port (mandatory for Linux)
                                            (for Windows, if COM_port_WIN is not
*provided,
*this
*value is ignored)

Definition at line 53 of file CIMUXSens.h.

#include <mrpt/hwdrivers/CIMUXSens.h>

Inheritance diagram for mrpt::hwdrivers::CIMUXSens:

Public Types
enum	TSensorState { ssInitializing = 0, ssWorking, ssError }
	The current state of the sensor. More...

using	Ptr = std::shared_ptr< CGenericSensor >

using	TListObservations = std::multimap< mrpt::system::TTimeStamp, mrpt::serialization::CSerializable::Ptr >

using	TListObsPair = std::pair< mrpt::system::TTimeStamp, mrpt::serialization::CSerializable::Ptr >

Public Member Functions
	CIMUXSens ()
	Constructor. More...

	~CIMUXSens () override
	Destructor. More...

void	doProcess () override
	This method will be invoked at a minimum rate of "process_rate" (Hz) More...

void	initialize () override
	Turns on the xSens device and configure it for getting orientation data. More...

virtual const mrpt::hwdrivers::TSensorClassId *	GetRuntimeClass () const =0

TSensorState	getState () const
	The current state of the sensor. More...

double	getProcessRate () const

std::string	getSensorLabel () const

void	setSensorLabel (const std::string &sensorLabel)

void	enableVerbose (bool enabled=true)
	Enable or disable extra debug info dumped to std::cout during sensor operation. More...

bool	isVerboseEnabled () const

void	loadConfig (const mrpt::config::CConfigFileBase &configSource, const std::string &section)
	Loads the generic settings common to any sensor (See CGenericSensor), then call to "loadConfig_sensorSpecific". More...

void	getObservations (TListObservations &lstObjects)
	Returns a list of enqueued objects, emptying it (thread-safe). More...

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). More...

void	setExternalImageFormat (const std::string &ext)
	Set the extension ("jpg","gif","png",...) that determines the format of images saved externally The default is "jpg". More...

void	setExternalImageJPEGQuality (const unsigned int quality)
	The quality of JPEG compression, when external images is enabled and the format is "jpg". More...

unsigned int	getExternalImageJPEGQuality () const

Static Public Member Functions
static void	registerClass (const TSensorClassId *pNewClass)
	Register a class into the internal list of "CGenericSensor" descendents. More...

static CGenericSensor *	createSensor (const std::string &className)
	Creates a sensor by a name of the class. More...

static CGenericSensor::Ptr	createSensorPtr (const std::string &className)
	Just like createSensor, but returning a smart pointer to the newly created sensor object. More...

Protected Member Functions
bool	searchPortAndConnect ()
	Search the port where the sensor is located and connect to it. More...

void	loadConfig_sensorSpecific (const mrpt::config::CConfigFileBase &configSource, const std::string &iniSection) override
	See the class documentation at the top for expected parameters. More...

void	appendObservations (const std::vector< mrpt::serialization::CSerializable::Ptr > &obj)
	This method must be called by derived classes to enqueue a new observation in the list to be returned by getObservations. More...

void	appendObservation (const mrpt::serialization::CSerializable::Ptr &obj)
	Like appendObservations() but for just one observation. More...

Protected Attributes
int	m_COMbauds {0}
	This serial port will be attempted to be opened automatically when this class is first used to request data from the device. More...

std::string	m_com_port

uint64_t	m_timeStartUI {}

mrpt::system::TTimeStamp	m_timeStartTT

mrpt::poses::CPose3D	m_sensorPose

void *	m_cmt3_ptr {nullptr}

void *	m_deviceId_ptr {nullptr}

unsigned int	m_toutCounter {0}
	Timeout counter (for internal use only) More...

size_t	m_grab_decimation_counter {0}
	Used when "m_grab_decimation" is enabled. More...

TSensorState	m_state {ssInitializing}

bool	m_verbose {false}

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

std::string	m_external_images_format
	The extension ("jpg","gif","png",...) that determines the format of images saved externally. More...

unsigned int	m_external_images_jpeg_quality {95}
	For JPEG images, the quality (default=95%). More...

Common settings to any sensor, loaded in "loadConfig"
double	m_process_rate {0}
	See CGenericSensor. More...

size_t	m_max_queue_len {200}
	See CGenericSensor. More...

size_t	m_grab_decimation {0}
	If set to N>=2, only 1 out of N observations will be saved to m_objList. More...

std::string	m_sensorLabel
	See CGenericSensor. More...

Member Typedef Documentation

◆ Ptr

using mrpt::hwdrivers::CGenericSensor::Ptr = std::shared_ptr<CGenericSensor>

inherited

Definition at line 72 of file CGenericSensor.h.

◆ TListObservations

using mrpt::hwdrivers::CGenericSensor::TListObservations = std::multimap< mrpt::system::TTimeStamp, mrpt::serialization::CSerializable::Ptr>

inherited

Definition at line 76 of file CGenericSensor.h.

◆ TListObsPair

using mrpt::hwdrivers::CGenericSensor::TListObsPair = std::pair< mrpt::system::TTimeStamp, mrpt::serialization::CSerializable::Ptr>

inherited

Definition at line 78 of file CGenericSensor.h.

Member Enumeration Documentation

◆ TSensorState

enum mrpt::hwdrivers::CGenericSensor::TSensorState

inherited

The current state of the sensor.

See also: CGenericSensor::getState

Enumerator
ssInitializing
ssWorking
ssError

Definition at line 83 of file CGenericSensor.h.

Constructor & Destructor Documentation

◆ CIMUXSens()

CIMUXSens::CIMUXSens ( )

Constructor.

Definition at line 55 of file CIMUXSens.cpp.

References m_cmt3_ptr, m_deviceId_ptr, mrpt::hwdrivers::CGenericSensor::m_sensorLabel, and THROW_EXCEPTION.

◆ ~CIMUXSens()

CIMUXSens::~CIMUXSens ( )

override

Destructor.

Definition at line 72 of file CIMUXSens.cpp.

References cmt3, deviceId, m_cmt3_ptr, and m_deviceId_ptr.

Member Function Documentation

◆ appendObservation()

void mrpt::hwdrivers::CGenericSensor::appendObservation ( const mrpt::serialization::CSerializable::Ptr & obj )

inlineprotectedinherited

Like appendObservations() but for just one observation.

Definition at line 178 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::appendObservations().

Referenced by mrpt::hwdrivers::CIMUXSens_MT4::doProcess(), doProcess(), mrpt::hwdrivers::CGyroKVHDSP3000::doProcess(), mrpt::hwdrivers::CSkeletonTracker::doProcess(), mrpt::hwdrivers::CSwissRanger3DCamera::doProcess(), mrpt::hwdrivers::C2DRangeFinderAbstract::doProcess(), mrpt::hwdrivers::CCANBusReader::doProcess(), mrpt::hwdrivers::CVelodyneScanner::doProcess(), and mrpt::hwdrivers::CGPSInterface::flushParsedMessagesNow().

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◆ appendObservations()

void CGenericSensor::appendObservations ( const std::vector< mrpt::serialization::CSerializable::Ptr > & 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:

  mrpt::obs::CObservationGPS::Ptr  o = CObservationGPS::Ptr( 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.

Definition at line 48 of file CGenericSensor.cpp.

References CLASS_ID, mrpt::hwdrivers::CGenericSensor::m_csObjList, mrpt::hwdrivers::CGenericSensor::m_grab_decimation, mrpt::hwdrivers::CGenericSensor::m_grab_decimation_counter, mrpt::hwdrivers::CGenericSensor::m_objList, and THROW_EXCEPTION.

Referenced by mrpt::hwdrivers::CGenericSensor::appendObservation(), mrpt::hwdrivers::CNationalInstrumentsDAQ::doProcess(), and mrpt::hwdrivers::CKinect::doProcess().

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◆ createSensor()

CGenericSensor * 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:

CGenericSensor::Ptr sensor = CGenericSensor::Ptr(

CGenericSensor::createSensor("XXX") );

Returns: A pointer to a new class, or nullptr if class name is unknown.

Definition at line 97 of file CGenericSensor.cpp.

References mrpt::hwdrivers::CGenericSensor::get_registered_sensor_classes().

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

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◆ createSensorPtr()

static CGenericSensor::Ptr 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 218 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::createSensor().

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◆ doProcess()

void CIMUXSens::doProcess ( )

overridevirtual

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.

Definition at line 87 of file CIMUXSens.cpp.

References mrpt::hwdrivers::CGenericSensor::appendObservation(), cmt3, mrpt::DEG2RAD(), mrpt::obs::IMU_PITCH, mrpt::obs::IMU_PITCH_VEL, mrpt::obs::IMU_ROLL, mrpt::obs::IMU_ROLL_VEL, mrpt::obs::IMU_X_ACC, mrpt::obs::IMU_Y_ACC, mrpt::obs::IMU_YAW, mrpt::obs::IMU_YAW_VEL, mrpt::obs::IMU_Z_ACC, initialize(), CmtVector::m_data, CmtEuler::m_pitch, CmtEuler::m_roll, mrpt::hwdrivers::CGenericSensor::m_sensorLabel, m_sensorPose, mrpt::hwdrivers::CGenericSensor::m_state, m_timeStartTT, m_timeStartUI, m_toutCounter, CmtEuler::m_yaw, mrpt::system::now(), mrpt::hwdrivers::CGenericSensor::ssError, mrpt::hwdrivers::CGenericSensor::ssWorking, THROW_EXCEPTION, XRV_OK, XRV_TIMEOUT, and XRV_TIMEOUTNODATA.

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◆ enableVerbose()

void mrpt::hwdrivers::CGenericSensor::enableVerbose ( bool enabled = true )

inlineinherited

Enable or disable extra debug info dumped to std::cout during sensor operation.

Default: disabled unless the environment variable "MRPT_HWDRIVERS_VERBOSE" is set to "1" during object creation.

Definition at line 104 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_verbose.

◆ getExternalImageJPEGQuality()

unsigned int mrpt::hwdrivers::CGenericSensor::getExternalImageJPEGQuality ( ) const

inlineinherited

Definition at line 288 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_external_images_jpeg_quality.

◆ getObservations()

void CGenericSensor::getObservations ( TListObservations & lstObjects )

inherited

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

The objects must be freed by the invoker.

Definition at line 85 of file CGenericSensor.cpp.

References mrpt::hwdrivers::CGenericSensor::m_csObjList, and mrpt::hwdrivers::CGenericSensor::m_objList.

Referenced by TEST().

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◆ getProcessRate()

double mrpt::hwdrivers::CGenericSensor::getProcessRate ( ) const

inlineinherited

Definition at line 92 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_process_rate.

◆ GetRuntimeClass()

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

pure virtualinherited

◆ getSensorLabel()

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

inlineinherited

Definition at line 93 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_sensorLabel.

◆ getState()

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

inlineinherited

The current state of the sensor.

Definition at line 91 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_state.

◆ initialize()

void CIMUXSens::initialize ( )

overridevirtual

Turns on the xSens device and configure it for getting orientation data.

Reimplemented from mrpt::hwdrivers::CGenericSensor.

Definition at line 294 of file CIMUXSens.cpp.

References cmt3, CMT_OUTPUTMODE_CALIB, CMT_OUTPUTMODE_ORIENT, CMT_OUTPUTSETTINGS_CALIBMODE_ACCGYR, CMT_OUTPUTSETTINGS_ORIENTMODE_EULER, CMT_OUTPUTSETTINGS_TIMESTAMP_SAMPLECNT, deviceId, mrpt::hwdrivers::CGenericSensor::m_state, m_timeStartTT, m_timeStartUI, mrpt::system::now(), searchPortAndConnect(), mrpt::hwdrivers::CGenericSensor::ssError, mrpt::hwdrivers::CGenericSensor::ssInitializing, mrpt::hwdrivers::CGenericSensor::ssWorking, THROW_EXCEPTION, and XRV_OK.

Referenced by doProcess().

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◆ isVerboseEnabled()

bool mrpt::hwdrivers::CGenericSensor::isVerboseEnabled ( ) const

inlineinherited

Definition at line 105 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_verbose.

◆ loadConfig()

void CGenericSensor::loadConfig	(	const mrpt::config::CConfigFileBase &	cfg,
		const std::string &	sect
	)

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.

Definition at line 126 of file CGenericSensor.cpp.

References mrpt::hwdrivers::CGenericSensor::loadConfig_sensorSpecific(), mrpt::hwdrivers::CGenericSensor::m_grab_decimation, mrpt::hwdrivers::CGenericSensor::m_grab_decimation_counter, mrpt::hwdrivers::CGenericSensor::m_max_queue_len, mrpt::hwdrivers::CGenericSensor::m_process_rate, mrpt::hwdrivers::CGenericSensor::m_sensorLabel, MRPT_END, MRPT_START, mrpt::config::CConfigFileBase::read_double(), mrpt::config::CConfigFileBase::read_int(), and mrpt::config::CConfigFileBase::read_string().

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◆ loadConfig_sensorSpecific()

void CIMUXSens::loadConfig_sensorSpecific	(	const mrpt::config::CConfigFileBase &	configSource,
		const std::string &	iniSection
	)

overrideprotectedvirtual

See the class documentation at the top for expected parameters.

Implements mrpt::hwdrivers::CGenericSensor.

Definition at line 380 of file CIMUXSens.cpp.

References mrpt::DEG2RAD(), m_com_port, m_COMbauds, m_sensorPose, mrpt::config::CConfigFileBase::read_float(), mrpt::config::CConfigFileBase::read_int(), mrpt::config::CConfigFileBase::read_string(), and mrpt::poses::CPose3D::setFromValues().

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◆ registerClass()

void 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.

Definition at line 115 of file CGenericSensor.cpp.

References mrpt::hwdrivers::TSensorClassId::className, and mrpt::hwdrivers::CGenericSensor::get_registered_sensor_classes().

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

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◆ searchPortAndConnect()

bool CIMUXSens::searchPortAndConnect ( )

protected

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

Definition at line 211 of file CIMUXSens.cpp.

References xsens::List< T >::append(), ASSERT_, cmt3, xsens::cmtScanPorts(), deviceId, xsens::List< T >::length(), CmtPortInfo::m_baudrate, m_com_port, m_COMbauds, CmtPortInfo::m_portName, mrpt::hwdrivers::CGenericSensor::m_state, mrpt::hwdrivers::CGenericSensor::ssError, mrpt::system::os::strcpy(), and XRV_OK.

Referenced by initialize().

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◆ setExternalImageFormat()

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 277 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_external_images_format.

◆ setExternalImageJPEGQuality()

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 284 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_external_images_jpeg_quality.

◆ setPathForExternalImages()

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::CCameraSensor, mrpt::hwdrivers::CKinect, mrpt::hwdrivers::COpenNI2Sensor, mrpt::hwdrivers::COpenNI2_RGBD360, and mrpt::hwdrivers::CSwissRanger3DCamera.

Definition at line 266 of file CGenericSensor.h.

References MRPT_UNUSED_PARAM.

◆ setSensorLabel()

void mrpt::hwdrivers::CGenericSensor::setSensorLabel ( const std::string & sensorLabel )

inlineinherited

Definition at line 94 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_sensorLabel.

Member Data Documentation

◆ m_cmt3_ptr

void* mrpt::hwdrivers::CIMUXSens::m_cmt3_ptr {nullptr}

protected

Definition at line 72 of file CIMUXSens.h.

Referenced by CIMUXSens(), and ~CIMUXSens().

◆ m_com_port

std::string mrpt::hwdrivers::CIMUXSens::m_com_port

protected

Definition at line 62 of file CIMUXSens.h.

Referenced by loadConfig_sensorSpecific(), and searchPortAndConnect().

◆ m_COMbauds

int mrpt::hwdrivers::CIMUXSens::m_COMbauds {0}

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: comms::CSerialPort

Definition at line 61 of file CIMUXSens.h.

Referenced by loadConfig_sensorSpecific(), and searchPortAndConnect().

◆ m_deviceId_ptr

void* mrpt::hwdrivers::CIMUXSens::m_deviceId_ptr {nullptr}

protected

Definition at line 73 of file CIMUXSens.h.

Referenced by CIMUXSens(), and ~CIMUXSens().

◆ m_external_images_format

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 156 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), mrpt::hwdrivers::CSwissRanger3DCamera::loadConfig_sensorSpecific(), and mrpt::hwdrivers::CGenericSensor::setExternalImageFormat().

◆ m_external_images_jpeg_quality

unsigned int mrpt::hwdrivers::CGenericSensor::m_external_images_jpeg_quality {95}

protectedinherited

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

Definition at line 158 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CGenericSensor::getExternalImageJPEGQuality(), mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), mrpt::hwdrivers::CSwissRanger3DCamera::loadConfig_sensorSpecific(), and mrpt::hwdrivers::CGenericSensor::setExternalImageJPEGQuality().

◆ m_grab_decimation

size_t mrpt::hwdrivers::CGenericSensor::m_grab_decimation {0}

protectedinherited

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

Definition at line 137 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CGenericSensor::appendObservations(), and mrpt::hwdrivers::CGenericSensor::loadConfig().

◆ m_grab_decimation_counter

size_t mrpt::hwdrivers::CGenericSensor::m_grab_decimation_counter {0}

protectedinherited

Used when "m_grab_decimation" is enabled.

Definition at line 144 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CGenericSensor::appendObservations(), and mrpt::hwdrivers::CGenericSensor::loadConfig().

◆ m_max_queue_len

size_t mrpt::hwdrivers::CGenericSensor::m_max_queue_len {200}

protectedinherited

See CGenericSensor.

Definition at line 134 of file CGenericSensor.h.

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

◆ m_path_for_external_images

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 153 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), and mrpt::hwdrivers::CSwissRanger3DCamera::setPathForExternalImages().

◆ m_process_rate

double mrpt::hwdrivers::CGenericSensor::m_process_rate {0}

protectedinherited

See CGenericSensor.

Definition at line 132 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CGenericSensor::getProcessRate(), mrpt::hwdrivers::CGyroKVHDSP3000::initialize(), and mrpt::hwdrivers::CGenericSensor::loadConfig().

◆ m_sensorLabel

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

protectedinherited

See CGenericSensor.

Definition at line 139 of file CGenericSensor.h.

◆ m_sensorPose

mrpt::poses::CPose3D mrpt::hwdrivers::CIMUXSens::m_sensorPose

protected

Definition at line 66 of file CIMUXSens.h.

Referenced by doProcess(), and loadConfig_sensorSpecific().

◆ m_state

TSensorState mrpt::hwdrivers::CGenericSensor::m_state {ssInitializing}

protectedinherited

Definition at line 146 of file CGenericSensor.h.

◆ m_timeStartTT

mrpt::system::TTimeStamp mrpt::hwdrivers::CIMUXSens::m_timeStartTT

protected

Definition at line 64 of file CIMUXSens.h.

Referenced by doProcess(), and initialize().

◆ m_timeStartUI

uint64_t mrpt::hwdrivers::CIMUXSens::m_timeStartUI {}

protected

Definition at line 63 of file CIMUXSens.h.

Referenced by doProcess(), and initialize().

◆ m_toutCounter

unsigned int mrpt::hwdrivers::CIMUXSens::m_toutCounter {0}

protected

Timeout counter (for internal use only)

Definition at line 75 of file CIMUXSens.h.

Referenced by doProcess().

◆ m_verbose

bool mrpt::hwdrivers::CGenericSensor::m_verbose {false}

protectedinherited

Definition at line 147 of file CGenericSensor.h.

Detailed Description

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Member Typedef Documentation

◆ Ptr

◆ TListObservations

◆ TListObsPair

Member Enumeration Documentation

◆ TSensorState

Constructor & Destructor Documentation

◆ CIMUXSens()

◆ ~CIMUXSens()

Member Function Documentation

◆ appendObservation()

◆ appendObservations()

◆ createSensor()

◆ createSensorPtr()

◆ doProcess()

◆ enableVerbose()

◆ getExternalImageJPEGQuality()

◆ getObservations()

◆ getProcessRate()

◆ GetRuntimeClass()

◆ getSensorLabel()

◆ getState()

◆ initialize()

◆ isVerboseEnabled()

◆ loadConfig()

◆ loadConfig_sensorSpecific()

◆ registerClass()

◆ searchPortAndConnect()

◆ setExternalImageFormat()

◆ setExternalImageJPEGQuality()

◆ setPathForExternalImages()

◆ setSensorLabel()

Member Data Documentation

◆ m_cmt3_ptr

◆ m_com_port

◆ m_COMbauds

◆ m_deviceId_ptr

◆ m_external_images_format

◆ m_external_images_jpeg_quality

◆ m_grab_decimation

◆ m_grab_decimation_counter

◆ m_max_queue_len

◆ m_path_for_external_images

◆ m_process_rate

◆ m_sensorLabel

◆ m_sensorPose

◆ m_state

◆ m_timeStartTT

◆ m_timeStartUI

◆ m_toutCounter

◆ m_verbose