A class for interfacing Inertial Measuring Units (IMUs) of the type "XSens MTi" It uses a serial port connection to the device.
The class implements the generic 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 value is ignored)
Definition at line 64 of file CIMUXSens.h.
#include <mrpt/hwdrivers/CIMUXSens.h>
Public Member Functions | |||
CIMUXSens () | |||
Constructor. | |||
virtual | ~CIMUXSens () | ||
Destructor. | |||
void | doProcess () | ||
This method will be invoked at a minimum rate of "process_rate" (Hz)
| |||
void | initialize () | ||
Turns on the xSens device and configure it for getting orientation data. | |||
Protected Member Functions | |||
bool | searchPortAndConnect () | ||
Search the port where the sensor is located and connect to it. | |||
void | loadConfig_sensorSpecific (const mrpt::utils::CConfigFileBase &configSource, const std::string &iniSection) | ||
Loads specific configuration for the device from a given source of configuration parameters, for example, an ".ini" file, loading from the section "[iniSection]" (see utils::CConfigFileBase and derived classes) See hwdrivers::CIMUXSens for the possible parameters. | |||
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. | |||
std::string | m_com_port | ||
uint64_t | m_timeStartUI | ||
mrpt::system::TTimeStamp | m_timeStartTT | ||
mrpt::poses::CPose3D | m_sensorPose | ||
void * | m_cmt3_ptr | ||
void * | m_deviceId_ptr | ||
unsigned int | m_toutCounter | ||
Timeout counter (for internal use only) |
mrpt::hwdrivers::CIMUXSens::CIMUXSens | ( | ) |
Constructor.
virtual mrpt::hwdrivers::CIMUXSens::~CIMUXSens | ( | ) | [virtual] |
Destructor.
void mrpt::hwdrivers::CIMUXSens::doProcess | ( | ) | [virtual] |
This method will be invoked at a minimum rate of "process_rate" (Hz)
This | method must throw an exception with a descriptive message if some critical error is found. |
Implements mrpt::hwdrivers::CGenericSensor.
void mrpt::hwdrivers::CIMUXSens::initialize | ( | ) | [virtual] |
Turns on the xSens device and configure it for getting orientation data.
Reimplemented from mrpt::hwdrivers::CGenericSensor.
void mrpt::hwdrivers::CIMUXSens::loadConfig_sensorSpecific | ( | const mrpt::utils::CConfigFileBase & | configSource, |
const std::string & | iniSection | ||
) | [protected, virtual] |
Loads specific configuration for the device from a given source of configuration parameters, for example, an ".ini" file, loading from the section "[iniSection]" (see utils::CConfigFileBase and derived classes) See hwdrivers::CIMUXSens for the possible parameters.
Implements mrpt::hwdrivers::CGenericSensor.
bool mrpt::hwdrivers::CIMUXSens::searchPortAndConnect | ( | ) | [protected] |
Search the port where the sensor is located and connect to it.
void* mrpt::hwdrivers::CIMUXSens::m_cmt3_ptr [protected] |
Definition at line 85 of file CIMUXSens.h.
std::string mrpt::hwdrivers::CIMUXSens::m_com_port [protected] |
Definition at line 73 of file CIMUXSens.h.
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.
Definition at line 72 of file CIMUXSens.h.
void* mrpt::hwdrivers::CIMUXSens::m_deviceId_ptr [protected] |
Definition at line 86 of file CIMUXSens.h.
Definition at line 77 of file CIMUXSens.h.
Definition at line 75 of file CIMUXSens.h.
uint64_t mrpt::hwdrivers::CIMUXSens::m_timeStartUI [protected] |
Definition at line 74 of file CIMUXSens.h.
unsigned int mrpt::hwdrivers::CIMUXSens::m_toutCounter [protected] |
Timeout counter (for internal use only)
Definition at line 87 of file CIMUXSens.h.
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