MRPT  1.9.9
mrpt::hwdrivers::CIMUXSens_MT4 Class Referenceabstract

Detailed Description

A class for interfacing XSens 4th generation Inertial Measuring Units (IMUs): MTi 10-series, MTi 100-series.

Usage considerations:

  • In Windows, you only need to install XSens drivers.
  • In Linux, this class requires the system libraries: libusb-1.0 & libudev (dev packages). Accessing USB devices may require running the program as super user ("sudo"). To avoid that, Or, install MRPT/scripts/52-xsens.rules in /etc/udev/rules.d/ to allow access to all users.

For the older 3rd generation devices, see the class mrpt::hwdrivers::CIMUXSens

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
;sampleFreq = 100 // The requested rate of sensor packets (default:
100Hz)
; If a portname is not provided, the first found device will be opened:
;portname_LIN = USB002:005
;portname_WIN = \\?\usb#vid_2639&pid_0003#...
;baudRate = 115200 ; Baudrate for communicating, only
if the port is a COM port
Note
Set the environment variable "MRPT_HWDRIVERS_VERBOSE" to "1" to enable diagnostic information while using this class.

Definition at line 55 of file CIMUXSens_MT4.h.

#include <mrpt/hwdrivers/CIMUXSens_MT4.h>

Inheritance diagram for mrpt::hwdrivers::CIMUXSens_MT4:

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_MT4 ()
 Constructor. More...
 
 ~CIMUXSens_MT4 () 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::TSensorClassIdGetRuntimeClass () 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 CGenericSensorcreateSensor (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

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_port_bauds {0}
 Baudrate, only for COM ports. More...
 
std::string m_portname
 The USB or COM port name (if blank -> autodetect) More...
 
int m_sampleFreq {100}
 
uint64_t m_timeStartUI {}
 
mrpt::system::TTimeStamp m_timeStartTT
 
mrpt::poses::CPose3D m_sensorPose
 
voidm_dev_ptr {nullptr}
 
voidm_devid_ptr {nullptr}
 
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

◆ TListObservations

◆ TListObsPair

Member Enumeration Documentation

◆ TSensorState

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_MT4()

CIMUXSens_MT4::CIMUXSens_MT4 ( )

◆ ~CIMUXSens_MT4()

CIMUXSens_MT4::~CIMUXSens_MT4 ( )
override

Destructor.

Definition at line 345 of file CIMUXSens_MT4.cpp.

References m_dev_ptr, m_devid_ptr, and my_xsens_device.

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 doProcess(), mrpt::hwdrivers::CIMUXSens::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

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:

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 208 of file CGenericSensor.h.

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

Referenced by mrpt::apps::RawlogGrabberApp::SensorThread().

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◆ doProcess()

void CIMUXSens_MT4::doProcess ( )
overridevirtual

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.

Definition at line 360 of file CIMUXSens_MT4.cpp.

References mrpt::hwdrivers::CGenericSensor::appendObservation(), mrpt::system::buildTimestampFromParts(), mrpt::system::TTimeParts::day, mrpt::system::TTimeParts::day_of_week, mrpt::system::TTimeParts::daylight_saving, mrpt::DEG2RAD(), mrpt::obs::gnss::Message_NMEA_RMC::content_t::direction_degrees, mrpt::obs::gnss::Message_NMEA_RMC::fields, mrpt::system::TTimeParts::hour, mrpt::obs::gnss::UTC_time::hour, mrpt::obs::IMU_ALTITUDE, mrpt::obs::IMU_MAG_X, mrpt::obs::IMU_MAG_Y, mrpt::obs::IMU_MAG_Z, mrpt::obs::IMU_ORI_QUAT_W, mrpt::obs::IMU_ORI_QUAT_X, mrpt::obs::IMU_ORI_QUAT_Y, mrpt::obs::IMU_ORI_QUAT_Z, mrpt::obs::IMU_PITCH, mrpt::obs::IMU_PITCH_VEL, mrpt::obs::IMU_ROLL, mrpt::obs::IMU_ROLL_VEL, mrpt::obs::IMU_TEMPERATURE, mrpt::obs::IMU_X_ACC, mrpt::obs::IMU_X_VEL, mrpt::obs::IMU_Y_ACC, mrpt::obs::IMU_Y_VEL, mrpt::obs::IMU_YAW, mrpt::obs::IMU_YAW_VEL, mrpt::obs::IMU_Z_ACC, mrpt::obs::IMU_Z_VEL, initialize(), mrpt::obs::gnss::Message_NMEA_RMC::content_t::latitude_degrees, mrpt::obs::gnss::Message_NMEA_RMC::content_t::longitude_degrees, mrpt::hwdrivers::CGenericSensor::m_sensorLabel, m_sensorPose, mrpt::hwdrivers::CGenericSensor::m_state, m_timeStartTT, m_timeStartUI, mrpt::system::TTimeParts::minute, mrpt::obs::gnss::UTC_time::minute, mrpt::system::TTimeParts::month, my_xsens_device, my_xsens_devid, mrpt::system::now(), mrpt::obs::gnss::UTC_time::sec, mrpt::system::TTimeParts::second, mrpt::obs::gnss::Message_NMEA_RMC::content_t::speed_knots, mrpt::hwdrivers::CGenericSensor::ssError, mrpt::hwdrivers::CGenericSensor::ssWorking, THROW_EXCEPTION, mrpt::obs::gnss::Message_NMEA_RMC::content_t::UTCTime, mrpt::obs::gnss::Message_NMEA_RMC::content_t::validity_char, and mrpt::system::TTimeParts::year.

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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

◆ 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_MT4::initialize ( )
overridevirtual

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

Reimplemented from mrpt::hwdrivers::CGenericSensor.

Definition at line 595 of file CIMUXSens_MT4.cpp.

References m_port_bauds, m_portname, m_sampleFreq, mrpt::hwdrivers::CGenericSensor::m_state, mrpt::hwdrivers::CGenericSensor::m_verbose, my_xsens_device, my_xsens_devid, mrpt::hwdrivers::CGenericSensor::ssError, mrpt::hwdrivers::CGenericSensor::ssInitializing, mrpt::hwdrivers::CGenericSensor::ssWorking, and THROW_EXCEPTION.

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
Thismethod 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(), mrpt::config::CConfigFileBase::read_string(), and sect.

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◆ loadConfig_sensorSpecific()

void CIMUXSens_MT4::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 758 of file CIMUXSens_MT4.cpp.

References mrpt::DEG2RAD(), m_port_bauds, m_portname, m_sampleFreq, 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().

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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 267 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 274 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::exceptionIf 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 256 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_dev_ptr

void* mrpt::hwdrivers::CIMUXSens_MT4::m_dev_ptr {nullptr}
protected

Definition at line 70 of file CIMUXSens_MT4.h.

Referenced by CIMUXSens_MT4(), and ~CIMUXSens_MT4().

◆ m_devid_ptr

void* mrpt::hwdrivers::CIMUXSens_MT4::m_devid_ptr {nullptr}
protected

Definition at line 71 of file CIMUXSens_MT4.h.

Referenced by CIMUXSens_MT4(), and ~CIMUXSens_MT4().

◆ 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

◆ 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_port_bauds

int mrpt::hwdrivers::CIMUXSens_MT4::m_port_bauds {0}
protected

Baudrate, only for COM ports.

Definition at line 60 of file CIMUXSens_MT4.h.

Referenced by initialize(), and loadConfig_sensorSpecific().

◆ m_portname

std::string mrpt::hwdrivers::CIMUXSens_MT4::m_portname
protected

The USB or COM port name (if blank -> autodetect)

Definition at line 62 of file CIMUXSens_MT4.h.

Referenced by initialize(), and loadConfig_sensorSpecific().

◆ m_process_rate

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

◆ m_sampleFreq

int mrpt::hwdrivers::CIMUXSens_MT4::m_sampleFreq {100}
protected

Definition at line 63 of file CIMUXSens_MT4.h.

Referenced by initialize(), and loadConfig_sensorSpecific().

◆ m_sensorLabel

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

See CGenericSensor.

Definition at line 139 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CCANBusReader::CCANBusReader(), mrpt::hwdrivers::CGPSInterface::CGPSInterface(), mrpt::hwdrivers::CGyroKVHDSP3000::CGyroKVHDSP3000(), mrpt::hwdrivers::CHokuyoURG::CHokuyoURG(), mrpt::hwdrivers::CIMUXSens::CIMUXSens(), CIMUXSens_MT4(), mrpt::hwdrivers::CKinect::CKinect(), mrpt::hwdrivers::CNationalInstrumentsDAQ::CNationalInstrumentsDAQ(), mrpt::hwdrivers::CRoboPeakLidar::CRoboPeakLidar(), mrpt::hwdrivers::CSickLaserSerial::CSickLaserSerial(), mrpt::hwdrivers::CSickLaserUSB::CSickLaserUSB(), mrpt::hwdrivers::CSkeletonTracker::CSkeletonTracker(), mrpt::hwdrivers::CSwissRanger3DCamera::CSwissRanger3DCamera(), mrpt::hwdrivers::CVelodyneScanner::CVelodyneScanner(), doProcess(), mrpt::hwdrivers::CIMUXSens::doProcess(), mrpt::hwdrivers::CGyroKVHDSP3000::doProcess(), mrpt::hwdrivers::CSkeletonTracker::doProcess(), mrpt::hwdrivers::CRoboPeakLidar::doProcessSimple(), mrpt::hwdrivers::CSickLaserUSB::doProcessSimple(), mrpt::hwdrivers::CCANBusReader::doProcessSimple(), mrpt::hwdrivers::CSickLaserSerial::doProcessSimple(), mrpt::hwdrivers::CHokuyoURG::doProcessSimple(), mrpt::hwdrivers::CGPSInterface::flushParsedMessagesNow(), mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), mrpt::hwdrivers::CKinect::getNextObservation(), mrpt::hwdrivers::CVelodyneScanner::getNextObservation(), mrpt::hwdrivers::CGenericSensor::getSensorLabel(), mrpt::hwdrivers::CNationalInstrumentsDAQ::grabbing_thread(), mrpt::hwdrivers::CGenericSensor::loadConfig(), mrpt::hwdrivers::CSkeletonTracker::processPreview(), mrpt::hwdrivers::C2DRangeFinderAbstract::processPreview(), mrpt::hwdrivers::CSkeletonTracker::processPreviewNone(), and mrpt::hwdrivers::CGenericSensor::setSensorLabel().

◆ m_sensorPose

mrpt::poses::CPose3D mrpt::hwdrivers::CIMUXSens_MT4::m_sensorPose
protected

Definition at line 68 of file CIMUXSens_MT4.h.

Referenced by doProcess(), and loadConfig_sensorSpecific().

◆ m_state

◆ m_timeStartTT

mrpt::system::TTimeStamp mrpt::hwdrivers::CIMUXSens_MT4::m_timeStartTT
protected

Definition at line 66 of file CIMUXSens_MT4.h.

Referenced by doProcess().

◆ m_timeStartUI

uint64_t mrpt::hwdrivers::CIMUXSens_MT4::m_timeStartUI {}
protected

Definition at line 65 of file CIMUXSens_MT4.h.

Referenced by doProcess().

◆ m_verbose




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