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CGyroKVHDSP3000.h

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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 CGyroKVHDSP3000_H
00030 #define CGyroKVHDSP3000_H
00031 
00032 
00033 #include <mrpt/hwdrivers/CGenericSensor.h>
00034 #include <mrpt/hwdrivers/CSerialPort.h>
00035 
00036 #include <mrpt/poses/CPose3D.h>
00037 #include <mrpt/slam/CObservationIMU.h>
00038 
00039 namespace mrpt
00040 {
00041         namespace hwdrivers
00042         {
00043                 enum GYRO_MODE{RATE, INCREMENTAL_ANGLE, INTEGRATED_ANGLE};              
00044                 /** A class for interfacing KVH DSP 3000 gyroscope with an assynchronous serial communication (product SN : 02-1222-01).
00045                   *  It uses a serial port connection to the device. The class implements the generic sensor class.
00046                   *  See also the application "rawlog-grabber" for a ready-to-use application to gather data from the scanner.
00047                   *      The generated observation is a CObservationIMU, but only the yaw angular velocity and the absolute yaw position are 
00048                   *  are set in the vector CObservationIMU::rawMeasurements.
00049                   *  The sensor process rate is imposed by hardware at 100Hz.
00050                   *  For now, this sensor is only supported on posix system.
00051                   *  \code
00052                   *  PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
00053                   * -------------------------------------------------------
00054                   *   [supplied_section_name]
00055                   *    process_rate = 100                               ; MUST be 100 Hz.
00056                   *    pose_x=0     ; Sensor 3D position relative to the robot (meters)
00057                   *    pose_y=0
00058                   *    pose_z=0
00059                   *    pose_yaw=0       ; Angles in degrees
00060                   *    pose_pitch=0
00061                   *    pose_roll=0
00062                   *    sensorLabel = <label> ; Label of the sensor
00063                   *    COM_port_LIN     = /dev/ttyUSB0       ; COM PORT in LINUX 
00064                   *    operatingMode = <"rate"/"integrated", "incremental">  ; Default mode is Rate.
00065                   *  \endcode
00066                   * In most of the communs applications, this class will be used as :
00067               * \code
00068                   * CGyroKVHDSP3000 kvh;
00069                   * /// ...
00070                   * CConfigFile conf("conf.ini");
00071                   * /// ...
00072                   * kvh.loadConfig_sensorSpecific(conf, "KVH");
00073                   * /// ...
00074                   * while(1) {
00075                   *     kvh.doProcess();
00076                   *             TListObservations rateObs;
00077                   *     kvh.getObservations(rateObs);
00078                   *             // ....
00079                   * \endcode
00080                   */
00081                 class HWDRIVERS_IMPEXP CGyroKVHDSP3000 : public hwdrivers::CGenericSensor
00082                 {
00083                         DEFINE_GENERIC_SENSOR(CGyroKVHDSP3000)
00084                 protected:
00085 
00086                         /** This serial port will be attempted to be opened automatically when this class is first used to request data from the device.
00087                           * \sa hwdrivers::CSerialPort
00088                           */
00089                         int                                                     m_COMbauds;
00090                         std::string                                     m_com_port;
00091 
00092                         mrpt::poses::CPose3D            m_sensorPose;
00093 
00094                         /** Search the port where the sensor is located and connect to it
00095                           */
00096                         bool                    searchPortAndConnect();
00097 
00098             CSerialPort*                        m_serialPort;                   //!< The serial port connection
00099                         GYRO_MODE               m_mode;
00100                         bool                                            m_firstInteration;
00101                                         
00102                         mrpt::slam::CObservationIMUPtr          m_observationGyro;
00103 
00104                 public:
00105                         /** Constructor
00106                           */
00107                         CGyroKVHDSP3000( );
00108 
00109                         /** 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)
00110                           *  See hwdrivers::CGyroKVHDSP3000 for the possible parameters
00111                           */
00112                         void  loadConfig_sensorSpecific(
00113                                 const mrpt::utils::CConfigFileBase &configSource,
00114                                 const std::string         &iniSection );
00115 
00116                         /** Destructor
00117                           */
00118                         virtual ~CGyroKVHDSP3000();
00119 
00120 
00121                         /** This method will be invoked at a minimum rate of "process_rate" (Hz)
00122                           *  \exception This method must throw an exception with a descriptive message if some critical error is found.
00123                           */
00124                         void doProcess();
00125 
00126                         /** Turns on the KVH DSP 3000 device and configure it for getting orientation data. you must have called loadConfig_sensorSpecific before
00127                           * calling this function.
00128                           */
00129                         void initialize();
00130                         /** Send to the sensor the command 'Z' wich reset the integrated angle. (in both rate mode and incremental, this function has no effect) */
00131                         void resetIncrementalAngle(void);
00132                         void changeMode(GYRO_MODE _newMode);
00133 
00134 
00135                 }; // end of class
00136 
00137         } // end of namespace
00138 } // end of namespace
00139 
00140 #endif
00141 
00142 



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