00001 /* +---------------------------------------------------------------------------+ 00002 | The Mobile Robot Programming Toolkit (MRPT) C++ library | 00003 | | 00004 | http://mrpt.sourceforge.net/ | 00005 | | 00006 | Copyright (C) 2005-2011 University of Malaga | 00007 | | 00008 | This software was written by the Machine Perception and Intelligent | 00009 | Robotics Lab, University of Malaga (Spain). | 00010 | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> | 00011 | | 00012 | This file is part of the MRPT project. | 00013 | | 00014 | MRPT is free software: you can redistribute it and/or modify | 00015 | it under the terms of the GNU General Public License as published by | 00016 | the Free Software Foundation, either version 3 of the License, or | 00017 | (at your option) any later version. | 00018 | | 00019 | MRPT is distributed in the hope that it will be useful, | 00020 | but WITHOUT ANY WARRANTY; without even the implied warranty of | 00021 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | 00022 | GNU General Public License for more details. | 00023 | | 00024 | You should have received a copy of the GNU General Public License | 00025 | along with MRPT. If not, see <http://www.gnu.org/licenses/>. | 00026 | | 00027 +---------------------------------------------------------------------------+ */ 00028 00029 #ifndef CPhidgetInterfaceKitProximitySensors_H 00030 #define CPhidgetInterfaceKitProximitySensors_H 00031 00032 #include <mrpt/slam/CObservationRange.h> 00033 #include <mrpt/poses/CPoint3D.h> 00034 #include <mrpt/utils/CDebugOutputCapable.h> 00035 #include <mrpt/hwdrivers/CGenericSensor.h> 00036 00037 namespace mrpt 00038 { 00039 namespace hwdrivers 00040 { 00041 /** \brief : An interface for the phidget Interface kit board (1018). 00042 * \class CPhidgetInterfaceKitProximitySensors 00043 * \author Adrien BARRAL - Robopec (aba@robopec.com). 00044 * 00045 * An interface for the Phidgets Interface kit board (part number 1018) on wich it could be plugged either an Sharp IR adaptater board 00046 * (phidget's part number : 1101),or a MaxBotix EZ-1 sonar (phidget's part number : 1118). 00047 * The configuration file describe what is plugged to this board, and the geometry of the sensors on the robots. See the exemple below. 00048 * \code 00049 * [PhidgetInterfaceKitProximitySensors] 00050 * sensorLabel = FrontProximitySensors 00051 * process_rate = 100 // Integer value in Hz (common to all sensors), default value is 50Hz. 00052 * displayRecapitulativeInformations = true // default value = false. 00053 * serialNumber = 12345 // The interface kit serial number (Integer value), default value is -1. 00054 * sensor1 = SHARP-30cm // sharp InfraRed sensor 30cm range (string value). capital to convert raw data to range data (in meters). 00055 * pose1_x = 0 // position on the robot (float value in meters) 00056 * pose1_y = 0 00057 * pose1_z = 0.5 00058 * pose1_yaw = -45.0 // Angles in degrees (float value). 00059 * pose1_pitch = 0 00060 * pose1_roll = 0 00061 * //... 00062 * sensorn = EZ1 // Maxbotix Ultrasound sonar 00063 * posen_x = 0 00064 * // ... 00065 * \endcode 00066 * 00067 * The maximum number of sensors on this board is 8. Sensor 1 is the first sensor. If you haven't plugged any sensor on an entry of the board, you haven't to specify 00068 * anyithing about this sensor in the configuration file. 00069 * The following table enumerate the different sensors supported by this class. 00070 * \latexonly 00071 * \begin{tabular}{|c|c|c} 00072 * \hline 00073 * Part Number & Config file indentifiant & IR or US 00074 * \hline 00075 * MaxBotix EZ-1 Sonar Sensor & EZ1 & US \\ 00076 * GP2D12 & SHARP-30cm & IR \\ 00077 * GP2Y0A21** & SHARP-80cm & IR \\ 00078 * \hline 00079 * \end{tabular} 00080 * 00081 * This isn't an event based implementation of the phidget library. That means that when an instanciation of a CPhidgetInterfaceKitProximitySensors is done, the constructor will block during 00082 * in the worst case 200ms, if the board isn't found, an exception will be thrown. 00083 * CObservation returned by this class is a CObservationRange. CObservationrange::minSensorDistance will be the minimum of the minimum of the sensor distances, e.g if you plug to the interface 00084 * kit a GP2D12 (min range 4 cm) and a GP2Y0A21 (min range 8 cm), then CObservationrange::minSensorDistance = min(0.04,0.08) = 0.04. Respectively for the maximal range. 00085 * \endlatexonly 00086 * \warning{The Phidget library use udev. By default, udev require to be root to be launched, if you want to be able to run a program wich use a phidget board without be root, you must modify files in /etc/udev/rules.d .} 00087 */ 00088 enum SensorType{SHARP_30cm, SHARP_80cm, EZ1, UNPLUGGED}; 00089 00090 class HWDRIVERS_IMPEXP CPhidgetInterfaceKitProximitySensors : public utils::CDebugOutputCapable, public CGenericSensor 00091 { 00092 DEFINE_GENERIC_SENSOR(CPhidgetInterfaceKitProximitySensors) 00093 00094 public: 00095 /** Constructor 00096 * \param serialNumber The board's serial number. Set -1 to choose the first available board 00097 */ 00098 CPhidgetInterfaceKitProximitySensors(); 00099 00100 /** Destructor 00101 */ 00102 virtual ~CPhidgetInterfaceKitProximitySensors(); 00103 00104 /** This method tries to get a set of range measurements from the IR sensors. 00105 * \param outThereIsObservation Will be true if an observation was sucessfully received. 00106 */ 00107 void getObservation(mrpt::slam::CObservationRange &outObservation); 00108 /** Initialize the sensor according to the parameters previously read in the configuration file. 00109 * \exception throw an exception if the board could not be found. 00110 * \exception throw an exception if the process rate can't be set on one of the board channel. 00111 */ 00112 void initialize(); 00113 00114 /** This method should be called periodically. Period depend on the process_rate in the configuration file. 00115 */ 00116 void doProcess(); 00117 00118 private: 00119 /** An 8 dimension vector of boolean value wich store the presence or abscence of a sensor on the phidget interface kit board. 00120 */ 00121 std::vector<bool> m_sensorIsPlugged; 00122 /** The minimum range in meters, this field is automaticaly filled according to the sensor part number read in the configuration file. 00123 * Size of this vector depend on the number of sensors described in the configuration file. 00124 */ 00125 std::vector<float> m_minRange; 00126 00127 /** The maximum range in meters, this field is automaticaly filled according to the sensor part number read in the configuration file. 00128 * Size of this vector depend on the number of sensors described in the configuration file. 00129 */ 00130 std::vector<float> m_maxRange; 00131 00132 /** The sensor type. 00133 */ 00134 std::vector<SensorType> m_sensorType; 00135 /** The poses of the 8 sensors x[m] y[m] z[m] yaw[deg] pitch[deg] roll[deg]. This field is automaticaly filled according to the sensor 00136 * described in the configuration file. 00137 */ 00138 std::vector<mrpt::math::CPose3D> m_sensorPoses; 00139 00140 /** The board serial number read in the configuration file. -1 for any board. 00141 */ 00142 int m_serialNumber; 00143 float m_minOfMinRanges; 00144 float m_maxOfMaxRanges; 00145 00146 void* m_carteInterfaceKit; //CPhidgetInterfaceKitHandle 00147 00148 /** 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) 00149 * See hwdrivers::CGPSInterface for the possible parameters 00150 */ 00151 void loadConfig_sensorSpecific( const mrpt::utils::CConfigFileBase &configSource, 00152 const std::string &iniSection ); 00153 }; // end class 00154 00155 } // end namespace 00156 } // end namespace 00157 00158 #endif
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