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mrpt::hwdrivers::CIMUXSens Class Referenceabstract

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

Definition at line 56 of file CIMUXSens.h.

#include <mrpt/hwdrivers/CIMUXSens.h>

Inheritance diagram for mrpt::hwdrivers::CIMUXSens:
Inheritance graph

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...
 
virtual ~CIMUXSens ()
 Destructor. More...
 
void doProcess ()
 This method will be invoked at a minimum rate of "process_rate" (Hz) More...
 
void initialize ()
 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

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)
 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
 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
 
voidm_cmt3_ptr
 
voidm_deviceId_ptr
 
unsigned int m_toutCounter
 Timeout counter (for internal use only) More...
 
size_t m_grab_decimation_counter
 Used when "m_grab_decimation" is enabled. More...
 
TSensorState m_state
 
bool m_verbose
 
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
 For JPEG images, the quality (default=95%). More...
 
Common settings to any sensor, loaded in "loadConfig"
double m_process_rate
 See CGenericSensor. More...
 
size_t m_max_queue_len
 See CGenericSensor. More...
 
size_t m_grab_decimation
 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

Definition at line 73 of file CGenericSensor.h.

◆ TListObservations

Definition at line 77 of file CGenericSensor.h.

◆ TListObsPair

Definition at line 79 of file CGenericSensor.h.

Member Enumeration Documentation

◆ TSensorState

The current state of the sensor.

See also
CGenericSensor::getState
Enumerator
ssInitializing 
ssWorking 
ssError 

Definition at line 84 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 ( )
virtual

Destructor.

Definition at line 80 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

◆ 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 53 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().

◆ 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 103 of file CGenericSensor.cpp.

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

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

◆ 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 219 of file CGenericSensor.h.

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

◆ doProcess()

void CIMUXSens::doProcess ( )
virtual

◆ 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 105 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 91 of file CGenericSensor.cpp.

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

◆ getProcessRate()

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

Definition at line 93 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 94 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 92 of file CGenericSensor.h.

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

◆ initialize()

void CIMUXSens::initialize ( void  )
virtual

◆ isVerboseEnabled()

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

Definition at line 106 of file CGenericSensor.h.

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

◆ loadConfig()

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

◆ loadConfig_sensorSpecific()

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

◆ 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 121 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().

◆ searchPortAndConnect()

bool CIMUXSens::searchPortAndConnect ( )
protected

◆ 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 278 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 285 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 267 of file CGenericSensor.h.

References MRPT_UNUSED_PARAM.

◆ setSensorLabel()

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

Definition at line 95 of file CGenericSensor.h.

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

Member Data Documentation

◆ m_cmt3_ptr

void* mrpt::hwdrivers::CIMUXSens::m_cmt3_ptr
protected

Definition at line 75 of file CIMUXSens.h.

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

◆ m_com_port

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

Definition at line 65 of file CIMUXSens.h.

Referenced by loadConfig_sensorSpecific(), and searchPortAndConnect().

◆ m_COMbauds

int mrpt::hwdrivers::CIMUXSens::m_COMbauds
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 64 of file CIMUXSens.h.

Referenced by loadConfig_sensorSpecific(), and searchPortAndConnect().

◆ m_deviceId_ptr

void* mrpt::hwdrivers::CIMUXSens::m_deviceId_ptr
protected

Definition at line 76 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 157 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
protectedinherited

◆ m_grab_decimation

size_t mrpt::hwdrivers::CGenericSensor::m_grab_decimation
protectedinherited

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

Definition at line 138 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
protectedinherited

Used when "m_grab_decimation" is enabled.

Definition at line 145 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
protectedinherited

See CGenericSensor.

Definition at line 135 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 154 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
protectedinherited

◆ m_sensorLabel

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

See CGenericSensor.

Definition at line 140 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CCANBusReader::CCANBusReader(), mrpt::hwdrivers::CGPSInterface::CGPSInterface(), mrpt::hwdrivers::CGyroKVHDSP3000::CGyroKVHDSP3000(), mrpt::hwdrivers::CHokuyoURG::CHokuyoURG(), mrpt::hwdrivers::CIMUIntersense::CIMUIntersense(), CIMUXSens(), mrpt::hwdrivers::CIMUXSens_MT4::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(), mrpt::hwdrivers::CIMUXSens_MT4::doProcess(), doProcess(), mrpt::hwdrivers::CGyroKVHDSP3000::doProcess(), mrpt::hwdrivers::CIMUIntersense::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::m_sensorPose
protected

Definition at line 69 of file CIMUXSens.h.

Referenced by doProcess(), and loadConfig_sensorSpecific().

◆ m_state

TSensorState mrpt::hwdrivers::CGenericSensor::m_state
protectedinherited

◆ m_timeStartTT

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

Definition at line 67 of file CIMUXSens.h.

Referenced by doProcess(), and initialize().

◆ m_timeStartUI

uint64_t mrpt::hwdrivers::CIMUXSens::m_timeStartUI
protected

Definition at line 66 of file CIMUXSens.h.

Referenced by doProcess(), and initialize().

◆ m_toutCounter

unsigned int mrpt::hwdrivers::CIMUXSens::m_toutCounter
protected

Timeout counter (for internal use only)

Definition at line 78 of file CIMUXSens.h.

Referenced by doProcess().

◆ m_verbose

bool mrpt::hwdrivers::CGenericSensor::m_verbose
protectedinherited



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