CIMUXSens_MT4.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
 
#ifndef CIMUXSens_MT4_H
#define CIMUXSens_MT4_H
 
#include <mrpt/hwdrivers/CGenericSensor.h>
#include <mrpt/poses/CPose3D.h>
 
namespace mrpt
{
namespace hwdrivers
{
/** 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
 * <code> MRPT/scripts/52-xsens.rules </code> in <code>/etc/udev/rules.d/</code>
 * to allow access to all users.
  *
  *  For the older 3rd generation devices, see the class
 * mrpt::hwdrivers::CIMUXSens
  *
  *  \code
  *  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
  *  \endcode
  *
  *  \note Set the environment variable "MRPT_HWDRIVERS_VERBOSE" to "1" to
 * enable diagnostic information while using this class.
  *
  * \ingroup mrpt_hwdrivers_grp
  */
class CIMUXSens_MT4 : public hwdrivers::CGenericSensor
{
        DEFINE_GENERIC_SENSOR(CIMUXSens_MT4)
   protected:
        /** Baudrate, only for COM ports. */
        int m_port_bauds;
        /** The USB or COM port name (if blank -> autodetect) */
        std::string m_portname;
        int m_sampleFreq;
 
        uint64_t m_timeStartUI;
        mrpt::system::TTimeStamp m_timeStartTT;
 
        mrpt::poses::CPose3D m_sensorPose;
 
        void* /*DeviceClass */ m_dev_ptr;
        void* /*XsDeviceId */ m_devid_ptr;
 
        /** See the class documentation at the top for expected parameters */
        void loadConfig_sensorSpecific(
                const mrpt::config::CConfigFileBase& configSource,
                const std::string& iniSection);
 
   public:
        /** Constructor
          */
        CIMUXSens_MT4();
 
        /** Destructor
          */
        virtual ~CIMUXSens_MT4();
 
        /** This method will be invoked at a minimum rate of "process_rate" (Hz)
          *  \exception This method must throw an exception with a descriptive
         * message if some critical error is found.
          */
        void doProcess();
 
        /** Turns on the xSens device and configure it for getting orientation data
         */
        void initialize();
 
};  // end of class
 
}  // end of namespace
}  // end of namespace
 
#endif