MRPT  2.0.4
CPhidgetInterfaceKitProximitySensors.h
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2  | Mobile Robot Programming Toolkit (MRPT) |
3  | https://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file |
6  | See: https://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See: https://www.mrpt.org/License |
8  +------------------------------------------------------------------------+ */
9 
10 #pragma once
11 
14 #include <mrpt/poses/CPoint3D.h>
16 
17 namespace mrpt::hwdrivers
18 {
19 /** \brief : An interface for the phidget Interface kit board (1018).
20  * \class CPhidgetInterfaceKitProximitySensors
21  * \author Adrien BARRAL - Robopec (aba@robopec.com).
22  *
23  * An interface for the Phidgets Interface kit board (part number 1018) on wich
24  * it could be plugged either an Sharp IR adaptater board
25  * (phidget's part number : 1101),or a MaxBotix EZ-1 sonar (phidget's part
26  * number : 1118).
27  * The configuration file describe what is plugged to this board, and the
28  * geometry of the sensors on the robots. See the exemple below.
29  * \code
30  * [PhidgetInterfaceKitProximitySensors]
31  * sensorLabel = FrontProximitySensors
32  * process_rate = 100 // Integer value in Hz (common to
33  * all
34  * sensors),
35  * default value is 50Hz.
36  * displayRecapitulativeInformations = true // default value = false.
37  * serialNumber = 12345 // The interface kit serial number
38  * (Integer
39  * value),
40  * default value is -1.
41  * sensor1 = SHARP-30cm // sharp InfraRed sensor 30cm range
42  * (string
43  * value).
44  * capital to convert raw data to range data (in meters).
45  * pose1_x = 0 // position on the robot (float
46  * value
47  * in
48  * meters)
49  * pose1_y = 0
50  * pose1_z = 0.5
51  * pose1_yaw = -45.0 // Angles in degrees (float value).
52  * pose1_pitch = 0
53  * pose1_roll = 0
54  * //...
55  * sensorn = EZ1 // Maxbotix Ultrasound sonar
56  * posen_x = 0
57  * // ...
58  * \endcode
59  *
60  * The maximum number of sensors on this board is 8. Sensor 1 is the first
61  * sensor. If you haven't plugged any sensor on an entry of the board, you
62  * haven't to specify
63  * anyithing about this sensor in the configuration file.
64  * The following table enumerate the different sensors supported by this class.
65  * \latexonly
66  * \begin{tabular}{|c|c|c}
67  * \hline
68  * Part Number & Config file indentifiant & IR or US
69  * \hline
70  * MaxBotix EZ-1 Sonar Sensor & EZ1 & US \\
71  * GP2D12 & SHARP-30cm & IR \\
72  * GP2Y0A21** & SHARP-80cm & IR \\
73  * \hline
74  * \end{tabular}
75  *
76  * This isn't an event based implementation of the phidget library. That means
77  * that when an instanciation of a CPhidgetInterfaceKitProximitySensors is done,
78  * the constructor will block during
79  * in the worst case 200ms, if the board isn't found, an exception will be
80  * thrown.
81  * mrpt::obs::CObservation returned by this class is a CObservationRange.
82  * CObservationrange::minSensorDistance will be the minimum of the minimum of
83  * the sensor distances, e.g if you plug to the interface
84  * kit a GP2D12 (min range 4 cm) and a GP2Y0A21 (min range 8 cm), then
85  * CObservationrange::minSensorDistance = min(0.04,0.08) = 0.04. Respectively
86  * for the maximal range.
87  * \endlatexonly
88  * \warning{The Phidget library use udev. By default, udev require to be root to
89  * be launched, if you want to be able to run a program wich use a phidget board
90  * without be root, you must modify files in /etc/udev/rules.d .}
91  * \ingroup mrpt_hwdrivers_grp
92  */
94 {
97  EZ1,
99 };
100 
102  public CGenericSensor
103 {
105 
106  public:
107  /** Constructor
108  * \param serialNumber The board's serial number. Set -1 to choose the
109  * first available board
110  */
112 
113  /** Destructor
114  */
116 
117  /** This method tries to get a set of range measurements from the IR
118  * sensors.
119  * \param outThereIsObservation Will be true if an observation was
120  * sucessfully received.
121  */
122  void getObservation(mrpt::obs::CObservationRange& outObservation);
123  /** Initialize the sensor according to the parameters previously read in the
124  * configuration file.
125  * \exception throw an exception if the board could not be found.
126  * \exception throw an exception if the process rate can't be set on one of
127  * the board channel.
128  */
129  void initialize() override;
130 
131  /** This method should be called periodically. Period depend on the
132  * process_rate in the configuration file.
133  */
134  void doProcess() override;
135 
136  private:
137  /** An 8 dimension vector of boolean value wich store the presence or
138  * abscence of a sensor on the phidget interface kit board.
139  */
140  std::vector<bool> m_sensorIsPlugged;
141  /** The minimum range in meters, this field is automaticaly filled according
142  * to the sensor part number read in the configuration file.
143  * Size of this vector depend on the number of sensors described in the
144  * configuration file.
145  */
146  std::vector<float> m_minRange;
147 
148  /** The maximum range in meters, this field is automaticaly filled according
149  * to the sensor part number read in the configuration file.
150  * Size of this vector depend on the number of sensors described in the
151  * configuration file.
152  */
153  std::vector<float> m_maxRange;
154 
155  /** The sensor type.
156  */
157  std::vector<SensorType> m_sensorType;
158  /** The poses of the 8 sensors x[m] y[m] z[m] yaw[deg] pitch[deg] roll[deg].
159  * This field is automaticaly filled according to the sensor
160  * described in the configuration file.
161  */
162  std::vector<mrpt::poses::CPose3D> m_sensorPoses;
163 
164  /** The board serial number read in the configuration file. -1 for any
165  * board.
166  */
167  int m_serialNumber{-1};
170 
171  void* m_carteInterfaceKit; // CPhidgetInterfaceKitHandle
172 
173  /** See the class documentation at the top for expected parameters */
175  const mrpt::config::CConfigFileBase& configSource,
176  const std::string& iniSection) override;
177 }; // end class
178 
179 } // namespace mrpt::hwdrivers
A generic interface for a wide-variety of sensors designed to be used in the application RawLogGrabbe...
Declares a class derived from "CObservation" that encapsules a single range measurement, and associated parameters.
void loadConfig_sensorSpecific(const mrpt::config::CConfigFileBase &configSource, const std::string &iniSection) override
See the class documentation at the top for expected parameters.
void getObservation(mrpt::obs::CObservationRange &outObservation)
This method tries to get a set of range measurements from the IR sensors.
Contains classes for various device interfaces.
This class allows loading and storing values and vectors of different types from a configuration text...
int m_serialNumber
The board serial number read in the configuration file.
std::vector< mrpt::poses::CPose3D > m_sensorPoses
The poses of the 8 sensors x[m] y[m] z[m] yaw[deg] pitch[deg] roll[deg].
Versatile class for consistent logging and management of output messages.
std::vector< bool > m_sensorIsPlugged
An 8 dimension vector of boolean value wich store the presence or abscence of a sensor on the phidget...
void initialize() override
Initialize the sensor according to the parameters previously read in the configuration file...
void doProcess() override
This method should be called periodically.
std::vector< float > m_minRange
The minimum range in meters, this field is automaticaly filled according to the sensor part number re...
#define DEFINE_GENERIC_SENSOR(class_name)
This declaration must be inserted in all CGenericSensor classes definition, within the class declarat...
std::vector< float > m_maxRange
The maximum range in meters, this field is automaticaly filled according to the sensor part number re...
: An interface for the phidget Interface kit board (1018).



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