Detailed Description

Store raw data from a Data Acquisition (DAQ) device, such that input or output analog and digital channels, counters from encoders, etc.

at one sampling instant. All analog values are assumed to be volts. On timing:

CObservation::timestamp corresponds to the time of the first samples in each of the vectors.
CObservationRawDAQ::sample_rate is the sampling rate, in samples per second per channel, as stored by the source driver.

See also: CObservation

Definition at line 32 of file CObservationRawDAQ.h.

#include <mrpt/obs/CObservationRawDAQ.h>

Inheritance diagram for mrpt::obs::CObservationRawDAQ:

Public Member Functions
void *	operator new (size_t size)

void *	operator new[] (size_t size)

void	operator delete (void *ptr) noexcept

void	operator delete[] (void *ptr) noexcept

void	operator delete (void memory, void ptr) noexcept

void *	operator new (size_t size, const std::nothrow_t &) noexcept

void	operator delete (void *ptr, const std::nothrow_t &) noexcept

	CObservationRawDAQ ()
	Constructor. More...

virtual	~CObservationRawDAQ ()
	Destructor. More...

void	getSensorPose (mrpt::poses::CPose3D &) const override
	Not used in this class. More...

void	setSensorPose (const mrpt::poses::CPose3D &) override
	Not used in this class. More...

void	getDescriptionAsText (std::ostream &o) const override
	Build a detailed, multi-line textual description of the observation contents and dump it to the output stream. More...

template<class METRICMAP >
bool	insertObservationInto (METRICMAP theMap, const mrpt::poses::CPose3D robotPose=nullptr) const
	This method is equivalent to: More...

void	getSensorPose (mrpt::math::TPose3D &out_sensorPose) const
	A general method to retrieve the sensor pose on the robot. More...

void	setSensorPose (const mrpt::math::TPose3D &newSensorPose)
	A general method to change the sensor pose on the robot. More...

virtual mxArray *	writeToMatlab () const
	Introduces a pure virtual method responsible for writing to a `mxArray` Matlab object, typically a MATLAB `struct` whose contents are documented in each derived class. More...

Delayed-load manual control methods.
virtual void	load () const
	Makes sure all images and other fields which may be externally stored are loaded in memory. More...

virtual void	unload ()
	Unload all images, for the case they being delayed-load images stored in external files (othewise, has no effect). More...

RTTI classes and functions
mrpt::utils::CObject::Ptr	duplicateGetSmartPtr () const
	Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). More...

Static Public Member Functions
static void *	operator new (size_t size, void *ptr)

Public Attributes
std::vector< uint8_t >	AIN_8bits

std::vector< uint16_t >	AIN_16bits
	Readings from 8-bit analog input (ADCs) channels (vector length=channel count) in ADC units. More...

std::vector< uint32_t >	AIN_32bits
	Readings from 16-bit analog input (ADCs) channels (vector length=channel count) in ADC units. More...

std::vector< float >	AIN_float
	Readings from 32-bit analog input (ADCs) channels (vector length=channel count) in ADC units. More...

std::vector< double >	AIN_double
	Readings from analog input (ADCs) channels (vector length=channel count) in Volts. More...

uint16_t	AIN_channel_count
	Readings from analog input (ADCs) channels (vector length=channel count) in Volts. More...

bool	AIN_interleaved
	Whether the channels are interleaved (A0 A1 A2 A0 A1 A2...) or not (A0 A0 A0 A1 A1 A1 A2 A2 A2...) in the AIN_* vectors. More...

std::vector< uint8_t >	AOUT_8bits

std::vector< uint16_t >	AOUT_16bits
	Present output values for 8-bit analog output (DACs) channels (vector length=channel count) in DAC units. More...

std::vector< float >	AOUT_float
	Present output values for 16-bit analog output (DACs) channels (vector length=channel count) in DAC units. More...

std::vector< double >	AOUT_double
	Present output values for 16-bit analog output (DACs) channels (vector length=channel count) in volts. More...

std::vector< uint8_t >	DIN
	Present output values for 16-bit analog output (DACs) channels (vector length=channel count) in volts. More...

std::vector< uint8_t >	DOUT
	Readings from digital inputs; each byte stores 8 digital inputs, or 8-bit port. More...

std::vector< uint32_t >	CNTRIN_32bits
	Present digital output values; each byte stores 8 digital inputs, or 8-bit port. More...

std::vector< double >	CNTRIN_double
	Readings from ticks counters, such as quadrature encoders. More...

double	sample_rate
	Readings from ticks counters, such as quadrature encoders. More...

Protected Member Functions
void	swap (CObservation &o)
	Swap with another observation, ONLY the data defined here in the base class CObservation. More...

CSerializable virtual methods
void	writeToStream (mrpt::utils::CStream &out, int *getVersion) const override
	Introduces a pure virtual method responsible for writing to a CStream. More...

void	readFromStream (mrpt::utils::CStream &in, int version) override
	Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. More...

Data common to any observation
mrpt::system::TTimeStamp	timestamp
	The associated UTC time-stamp. More...

std::string	sensorLabel
	An arbitrary label that can be used to identify the sensor. More...

mrpt::system::TTimeStamp	getTimeStamp () const
	Returns CObservation::timestamp for all kind of observations. More...

virtual mrpt::system::TTimeStamp	getOriginalReceivedTimeStamp () const
	By default, returns CObservation::timestamp but in sensors capable of satellite (or otherwise) accurate UTC timing of readings, this contains the computer-based timestamp of reception, which may be slightly different than timestamp. More...

RTTI stuff
using	Ptr = std::shared_ptr< CObservationRawDAQ >

using	ConstPtr = std::shared_ptr< const CObservationRawDAQ >

static mrpt::utils::CLASSINIT	_init_CObservationRawDAQ

static const mrpt::utils::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "CObservationRawDAQ"

static const mrpt::utils::TRuntimeClassId *	_GetBaseClass ()

static const mrpt::utils::TRuntimeClassId &	GetRuntimeClassIdStatic ()

static mrpt::utils::CObject *	CreateObject ()

template<typename... Args>
static Ptr	Create (Args &&... args)

virtual const mrpt::utils::TRuntimeClassId *	GetRuntimeClass () const override
	Returns information about the class of an object in runtime. More...

virtual mrpt::utils::CObject *	clone () const override
	Returns a deep copy (clone) of the object, indepently of its class. More...

Member Typedef Documentation

◆ ConstPtr

using mrpt::obs::CObservationRawDAQ::ConstPtr = std::shared_ptr<const CObservationRawDAQ >

Definition at line 34 of file CObservationRawDAQ.h.

◆ Ptr

using mrpt::obs::CObservationRawDAQ::Ptr = std::shared_ptr< CObservationRawDAQ >

A typedef for the associated smart pointer

Definition at line 34 of file CObservationRawDAQ.h.

Constructor & Destructor Documentation

◆ CObservationRawDAQ()

mrpt::obs::CObservationRawDAQ::CObservationRawDAQ ( )

inline

Constructor.

Definition at line 37 of file CObservationRawDAQ.h.

◆ ~CObservationRawDAQ()

virtual mrpt::obs::CObservationRawDAQ::~CObservationRawDAQ ( )

inlinevirtual

Destructor.

Definition at line 42 of file CObservationRawDAQ.h.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::utils::TRuntimeClassId* mrpt::obs::CObservationRawDAQ::_GetBaseClass ( )

staticprotected

◆ clone()

virtual mrpt::utils::CObject* mrpt::obs::CObservationRawDAQ::clone ( ) const

overridevirtual

Returns a deep copy (clone) of the object, indepently of its class.

Implements mrpt::utils::CObject.

◆ Create()

template<typename... Args>

static Ptr mrpt::obs::CObservationRawDAQ::Create ( Args &&... args )

inlinestatic

Definition at line 34 of file CObservationRawDAQ.h.

◆ CreateObject()

static mrpt::utils::CObject* mrpt::obs::CObservationRawDAQ::CreateObject ( )

static

◆ getDescriptionAsText()

void CObservationRawDAQ::getDescriptionAsText ( std::ostream & o ) const

overridevirtual

Build a detailed, multi-line textual description of the observation contents and dump it to the output stream.

Note: If overried by derived classes, call base CObservation::getDescriptionAsText() first to show common information.; This is the text that appears in RawLogViewer when selecting an object in the dataset

Reimplemented from mrpt::obs::CObservation.

Definition at line 63 of file CObservationRawDAQ.cpp.

References mrpt::obs::CObservation::getDescriptionAsText(), and RAWDAQ_SHOW_FIRSTS.

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◆ getOriginalReceivedTimeStamp()

virtual mrpt::system::TTimeStamp mrpt::obs::CObservation::getOriginalReceivedTimeStamp ( ) const

inlinevirtualinherited

By default, returns CObservation::timestamp but in sensors capable of satellite (or otherwise) accurate UTC timing of readings, this contains the computer-based timestamp of reception, which may be slightly different than timestamp.

See also: getTimeStamp()

Reimplemented in mrpt::obs::CObservationGPS, and mrpt::obs::CObservationVelodyneScan.

Definition at line 69 of file CObservation.h.

References mrpt::obs::CObservation::timestamp.

◆ GetRuntimeClass()

virtual const mrpt::utils::TRuntimeClassId* mrpt::obs::CObservationRawDAQ::GetRuntimeClass ( ) const

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::obs::CObservation.

◆ GetRuntimeClassIdStatic()

static const mrpt::utils::TRuntimeClassId& mrpt::obs::CObservationRawDAQ::GetRuntimeClassIdStatic ( )

static

◆ getSensorPose() [1/2]

void mrpt::obs::CObservationRawDAQ::getSensorPose ( mrpt::poses::CPose3D & ) const

inlineoverridevirtual

Not used in this class.

Implements mrpt::obs::CObservation.

Definition at line 97 of file CObservationRawDAQ.h.

◆ getSensorPose() [2/2]

void CObservation::getSensorPose ( mrpt::math::TPose3D & out_sensorPose ) const

inherited

A general method to retrieve the sensor pose on the robot.

Note that most sensors will return a full (6D) CPose3D, but see the derived classes for more details or special cases.

See also: setSensorPose

Definition at line 31 of file CObservation.cpp.

◆ getTimeStamp()

mrpt::system::TTimeStamp mrpt::obs::CObservation::getTimeStamp ( ) const

inlineinherited

Returns CObservation::timestamp for all kind of observations.

See also: getOriginalReceivedTimeStamp()

Definition at line 64 of file CObservation.h.

References mrpt::obs::CObservation::timestamp.

◆ insertObservationInto()

template<class METRICMAP >

bool mrpt::obs::CObservation::insertObservationInto	(	METRICMAP *	theMap,
		const mrpt::poses::CPose3D *	robotPose = `nullptr`
	)		const

inlineinherited

This method is equivalent to:

map->insertObservation(this, robotPose)

Parameters

theMap	The map where this observation is to be inserted: the map will be updated.
robotPose	The pose of the robot base for this observation, relative to the target metric map. Set to nullptr (default) to use (0,0,0deg)

Returns: Returns true if the map has been updated, or false if this observations has nothing to do with a metric map (for example, a sound observation).

See: Maps and observations compatibility matrix

See also: CMetricMap, CMetricMap::insertObservation

Definition at line 96 of file CObservation.h.

Referenced by mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_CellsDifference().

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◆ load()

virtual void mrpt::obs::CObservation::load ( ) const

inlinevirtualinherited

Makes sure all images and other fields which may be externally stored are loaded in memory.

Note that for all CImages, calling load() is not required since the images will be automatically loaded upon first access, so load() shouldn't be needed to be called in normal cases by the user. If all the data were alredy loaded or this object has no externally stored data fields, calling this method has no effects.

See also: unload

Reimplemented in mrpt::obs::CObservation3DRangeScan.

Definition at line 151 of file CObservation.h.

◆ operator delete() [1/3]

void mrpt::obs::CObservationRawDAQ::operator delete ( void * ptr )

inlinenoexcept

Definition at line 34 of file CObservationRawDAQ.h.

◆ operator delete() [2/3]

void mrpt::obs::CObservationRawDAQ::operator delete	(	void *	memory,
		void *	ptr
	)

inlinenoexcept

Definition at line 34 of file CObservationRawDAQ.h.

◆ operator delete() [3/3]

void mrpt::obs::CObservationRawDAQ::operator delete	(	void *	ptr,
		const std::nothrow_t &
	)

inlinenoexcept

Definition at line 34 of file CObservationRawDAQ.h.

◆ operator delete[]()

void mrpt::obs::CObservationRawDAQ::operator delete[] ( void * ptr )

inlinenoexcept

Definition at line 34 of file CObservationRawDAQ.h.

◆ operator new() [1/3]

void* mrpt::obs::CObservationRawDAQ::operator new	(	size_t	size,
		const std::nothrow_t &
	)

inlinenoexcept

Definition at line 34 of file CObservationRawDAQ.h.

◆ operator new() [2/3]

static void* mrpt::obs::CObservationRawDAQ::operator new	(	size_t	size,
		void *	ptr
	)

inlinestatic

Definition at line 34 of file CObservationRawDAQ.h.

◆ operator new() [3/3]

void* mrpt::obs::CObservationRawDAQ::operator new ( size_t size )

inline

Definition at line 34 of file CObservationRawDAQ.h.

◆ operator new[]()

void* mrpt::obs::CObservationRawDAQ::operator new[] ( size_t size )

inline

Definition at line 34 of file CObservationRawDAQ.h.

◆ readFromStream()

void CObservationRawDAQ::readFromStream	(	mrpt::utils::CStream &	in,
		int	version
	)

overrideprotectedvirtual

Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.

Parameters

in	The input binary stream where the object data must read from.
version	The version of the object stored in the stream: use this version number in your code to know how to read the incoming data.

Exceptions

std::exception On any error, see CStream::ReadBuffer

See also: CStream

Implements mrpt::utils::CSerializable.

Definition at line 45 of file CObservationRawDAQ.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

◆ setSensorPose() [1/2]

void mrpt::obs::CObservationRawDAQ::setSensorPose ( const mrpt::poses::CPose3D & )

inlineoverridevirtual

Not used in this class.

Implements mrpt::obs::CObservation.

Definition at line 99 of file CObservationRawDAQ.h.

◆ setSensorPose() [2/2]

void CObservation::setSensorPose ( const mrpt::math::TPose3D & newSensorPose )

inherited

A general method to change the sensor pose on the robot.

Note that most sensors will use the full (6D) CPose3D, but see the derived classes for more details or special cases.

See also: getSensorPose

Definition at line 38 of file CObservation.cpp.

◆ swap()

void CObservation::swap ( CObservation & o )

protectedinherited

Swap with another observation, ONLY the data defined here in the base class CObservation.

It's protected since it'll be only called from child classes that should know what else to swap appart from these common data.

Definition at line 43 of file CObservation.cpp.

References mrpt::obs::CObservation::sensorLabel, and mrpt::obs::CObservation::timestamp.

Referenced by mrpt::obs::CObservationStereoImages::swap(), and mrpt::obs::CObservation3DRangeScan::swap().

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◆ unload()

virtual void mrpt::obs::CObservation::unload ( )

inlinevirtualinherited

Unload all images, for the case they being delayed-load images stored in external files (othewise, has no effect).

See also: load

Reimplemented in mrpt::obs::CObservation3DRangeScan.

Definition at line 156 of file CObservation.h.

◆ writeToMatlab()

virtual mxArray* mrpt::utils::CSerializable::writeToMatlab ( ) const

inlinevirtualinherited

Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class.

Returns: A new mxArray (caller is responsible of memory freeing) or nullptr is class does not support conversion to MATLAB.

Definition at line 89 of file CSerializable.h.

◆ writeToStream()

void CObservationRawDAQ::writeToStream	(	mrpt::utils::CStream &	out,
		int *	getVersion
	)		const

overrideprotectedvirtual

Introduces a pure virtual method responsible for writing to a CStream.

This can not be used directly be users, instead use "stream << object;" for writing it to a stream.

Parameters

out	The output binary stream where object must be dumped.
getVersion	If nullptr, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data.

Exceptions

std::exception On any error, see CStream::WriteBuffer

See also: CStream

Implements mrpt::utils::CSerializable.

Definition at line 27 of file CObservationRawDAQ.cpp.

Member Data Documentation

◆ _init_CObservationRawDAQ

mrpt::utils::CLASSINIT mrpt::obs::CObservationRawDAQ::_init_CObservationRawDAQ

staticprotected

Definition at line 34 of file CObservationRawDAQ.h.

◆ AIN_16bits

std::vector<uint16_t> mrpt::obs::CObservationRawDAQ::AIN_16bits

Readings from 8-bit analog input (ADCs) channels (vector length=channel count) in ADC units.

Definition at line 47 of file CObservationRawDAQ.h.

◆ AIN_32bits

std::vector<uint32_t> mrpt::obs::CObservationRawDAQ::AIN_32bits

Readings from 16-bit analog input (ADCs) channels (vector length=channel count) in ADC units.

Definition at line 50 of file CObservationRawDAQ.h.

◆ AIN_8bits

std::vector<uint8_t> mrpt::obs::CObservationRawDAQ::AIN_8bits

Definition at line 44 of file CObservationRawDAQ.h.

◆ AIN_channel_count

uint16_t mrpt::obs::CObservationRawDAQ::AIN_channel_count

Readings from analog input (ADCs) channels (vector length=channel count) in Volts.

How many different ADC channels are present in the AIN_* vectors.

Definition at line 60 of file CObservationRawDAQ.h.

Referenced by mrpt::hwdrivers::CNationalInstrumentsDAQ::grabbing_thread().

◆ AIN_double

std::vector<double> mrpt::obs::CObservationRawDAQ::AIN_double

Readings from analog input (ADCs) channels (vector length=channel count) in Volts.

Definition at line 56 of file CObservationRawDAQ.h.

Referenced by mrpt::hwdrivers::CNationalInstrumentsDAQ::grabbing_thread().

◆ AIN_float

std::vector<float> mrpt::obs::CObservationRawDAQ::AIN_float

Readings from 32-bit analog input (ADCs) channels (vector length=channel count) in ADC units.

Definition at line 53 of file CObservationRawDAQ.h.

◆ AIN_interleaved

bool mrpt::obs::CObservationRawDAQ::AIN_interleaved

Whether the channels are interleaved (A0 A1 A2 A0 A1 A2...) or not (A0 A0 A0 A1 A1 A1 A2 A2 A2...) in the AIN_* vectors.

Definition at line 63 of file CObservationRawDAQ.h.

Referenced by mrpt::hwdrivers::CNationalInstrumentsDAQ::grabbing_thread().

◆ AOUT_16bits

std::vector<uint16_t> mrpt::obs::CObservationRawDAQ::AOUT_16bits

Present output values for 8-bit analog output (DACs) channels (vector length=channel count) in DAC units.

Definition at line 69 of file CObservationRawDAQ.h.

◆ AOUT_8bits

std::vector<uint8_t> mrpt::obs::CObservationRawDAQ::AOUT_8bits

Definition at line 66 of file CObservationRawDAQ.h.

◆ AOUT_double

std::vector<double> mrpt::obs::CObservationRawDAQ::AOUT_double

Present output values for 16-bit analog output (DACs) channels (vector length=channel count) in volts.

Definition at line 75 of file CObservationRawDAQ.h.

◆ AOUT_float

std::vector<float> mrpt::obs::CObservationRawDAQ::AOUT_float

Present output values for 16-bit analog output (DACs) channels (vector length=channel count) in DAC units.

Definition at line 71 of file CObservationRawDAQ.h.

◆ className

constexpr const char* mrpt::obs::CObservationRawDAQ::className = "CObservationRawDAQ"

static

Definition at line 34 of file CObservationRawDAQ.h.

◆ CNTRIN_32bits

std::vector<uint32_t> mrpt::obs::CObservationRawDAQ::CNTRIN_32bits

Present digital output values; each byte stores 8 digital inputs, or 8-bit port.

Definition at line 85 of file CObservationRawDAQ.h.

◆ CNTRIN_double

std::vector<double> mrpt::obs::CObservationRawDAQ::CNTRIN_double

Readings from ticks counters, such as quadrature encoders.

(vector length=channel count) in ticks.

Definition at line 88 of file CObservationRawDAQ.h.

Referenced by mrpt::hwdrivers::CNationalInstrumentsDAQ::grabbing_thread().

◆ DIN

std::vector<uint8_t> mrpt::obs::CObservationRawDAQ::DIN

Present output values for 16-bit analog output (DACs) channels (vector length=channel count) in volts.

Definition at line 79 of file CObservationRawDAQ.h.

Referenced by mrpt::hwdrivers::CNationalInstrumentsDAQ::grabbing_thread().

◆ DOUT

std::vector<uint8_t> mrpt::obs::CObservationRawDAQ::DOUT

Readings from digital inputs; each byte stores 8 digital inputs, or 8-bit port.

Definition at line 81 of file CObservationRawDAQ.h.

◆ runtimeClassId

const mrpt::utils::TRuntimeClassId mrpt::obs::CObservationRawDAQ::runtimeClassId

staticprotected

Definition at line 34 of file CObservationRawDAQ.h.

◆ sample_rate

double mrpt::obs::CObservationRawDAQ::sample_rate

Readings from ticks counters, such as quadrature encoders.

(vector length=channel count) in radians, degrees or any other unit (depends on the source driver). The sampling rate, in samples per second per channel

Definition at line 94 of file CObservationRawDAQ.h.

Referenced by mrpt::hwdrivers::CNationalInstrumentsDAQ::grabbing_thread().

◆ sensorLabel

std::string mrpt::obs::CObservation::sensorLabel

inherited

An arbitrary label that can be used to identify the sensor.

Definition at line 60 of file CObservation.h.

◆ timestamp

mrpt::system::TTimeStamp mrpt::obs::CObservation::timestamp

inherited

The associated UTC time-stamp.

Where available, this should contain the accurate satellite-based timestamp of the sensor reading.

See also: getOriginalReceivedTimeStamp(), getTimeStamp()

Definition at line 58 of file CObservation.h.

Detailed Description

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Data common to any observation

RTTI stuff

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

Constructor & Destructor Documentation

◆ CObservationRawDAQ()

◆ ~CObservationRawDAQ()

Member Function Documentation

◆ _GetBaseClass()

◆ clone()

◆ Create()

◆ CreateObject()

◆ getDescriptionAsText()

◆ getOriginalReceivedTimeStamp()

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ getSensorPose() [1/2]

◆ getSensorPose() [2/2]

◆ getTimeStamp()

◆ insertObservationInto()

◆ load()

◆ operator delete() [1/3]

◆ operator delete() [2/3]

◆ operator delete() [3/3]

◆ operator delete[]()

◆ operator new() [1/3]

◆ operator new() [2/3]

◆ operator new() [3/3]

◆ operator new[]()

◆ readFromStream()

◆ setSensorPose() [1/2]

◆ setSensorPose() [2/2]

◆ swap()

◆ unload()

◆ writeToMatlab()

◆ writeToStream()

Member Data Documentation

◆ _init_CObservationRawDAQ

◆ AIN_16bits

◆ AIN_32bits

◆ AIN_8bits

◆ AIN_channel_count

◆ AIN_double

◆ AIN_float

◆ AIN_interleaved

◆ AOUT_16bits

◆ AOUT_8bits

◆ AOUT_double

◆ AOUT_float

◆ className

◆ CNTRIN_32bits

◆ CNTRIN_double

◆ DIN

◆ DOUT

◆ runtimeClassId

◆ sample_rate

◆ sensorLabel

◆ timestamp