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mrpt::slam::CObservationRawDAQ Class Reference

Detailed Description

Store raw data from a Data Acquisition (DAQ) device, such that input or output analog and digital channels, counters from encoders, etc.

at one sampling instant. All analog values are assumed to be volts. On timing:

See Also
CObservation

Definition at line 30 of file CObservationRawDAQ.h.

#include <mrpt/slam/CObservationRawDAQ.h>

Inheritance diagram for mrpt::slam::CObservationRawDAQ:
Inheritance graph
[legend]

Public Member Functions

void * operator new (size_t size)
 
void * operator new[] (size_t size)
 
void operator delete (void *ptr) throw ()
 
void operator delete[] (void *ptr) throw ()
 
void operator delete (void *memory, void *ptr) throw ()
 
void * operator new (size_t size, const std::nothrow_t &) throw ()
 
void operator delete (void *ptr, const std::nothrow_t &) throw ()
 
 CObservationRawDAQ ()
 Constructor. More...
 
virtual ~CObservationRawDAQ ()
 Destructor. More...
 
void getSensorPose (CPose3D &out_sensorPose) const
 Not used in this class. More...
 
void setSensorPose (const CPose3D &)
 Not used in this class. More...
 
template<class METRICMAP >
bool insertObservationInto (METRICMAP *theMap, const CPose3D *robotPose=NULL) const
 This method is equivalent to: More...
 
void getSensorPose (mrpt::math::TPose3D &out_sensorPose) const
 A general method to retrieve the sensor pose on the robot. More...
 
void setSensorPose (const mrpt::math::TPose3D &newSensorPose)
 A general method to change the sensor pose on the robot. More...
 
mrpt::utils::CObjectPtr duplicateGetSmartPtr () const
 Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). More...
 
CObjectclone () const
 Cloning interface for smart pointers. More...
 
Delayed-load manual control methods.
virtual void load () const
 Makes sure all images and other fields which may be externally stored are loaded in memory. More...
 
virtual void unload ()
 Unload all images, for the case they being delayed-load images stored in external files (othewise, has no effect). More...
 

Static Public Member Functions

static void * operator new (size_t size, void *ptr)
 

Public Attributes

std::vector< uint8_t > AIN_8bits
 
std::vector< uint16_t > AIN_16bits
 Readings from 8-bit analog input (ADCs) channels (vector length=channel count) in ADC units. More...
 
std::vector< uint32_t > AIN_32bits
 Readings from 16-bit analog input (ADCs) channels (vector length=channel count) in ADC units. More...
 
std::vector< float > AIN_float
 Readings from 32-bit analog input (ADCs) channels (vector length=channel count) in ADC units. More...
 
std::vector< double > AIN_double
 Readings from analog input (ADCs) channels (vector length=channel count) in Volts. More...
 
uint16_t AIN_channel_count
 Readings from analog input (ADCs) channels (vector length=channel count) in Volts. More...
 
bool AIN_interleaved
 Whether the channels are interleaved (A0 A1 A2 A0 A1 A2...) or not (A0 A0 A0 A1 A1 A1 A2 A2 A2...) in the AIN_* vectors. More...
 
std::vector< uint8_t > AOUT_8bits
 
std::vector< uint16_t > AOUT_16bits
 Present output values for 8-bit analog output (DACs) channels (vector length=channel count) in DAC units. More...
 
std::vector< float > AOUT_float
 Present output values for 16-bit analog output (DACs) channels (vector length=channel count) in DAC units. More...
 
std::vector< double > AOUT_double
 Present output values for 16-bit analog output (DACs) channels (vector length=channel count) in volts. More...
 
std::vector< uint8_t > DIN
 Present output values for 16-bit analog output (DACs) channels (vector length=channel count) in volts. More...
 
std::vector< uint8_t > DOUT
 Readings from digital inputs; each byte stores 8 digital inputs, or 8-bit port. More...
 
std::vector< uint32_t > CNTRIN_32bits
 Present digital output values; each byte stores 8 digital inputs, or 8-bit port. More...
 
std::vector< double > CNTRIN_double
 Readings from ticks counters, such as quadrature encoders. More...
 
double sample_rate
 Readings from ticks counters, such as quadrature encoders. More...
 
Data common to any observation
mrpt::system::TTimeStamp timestamp
 The associated time-stamp. More...
 
std::string sensorLabel
 An arbitrary label that can be used to identify the sensor. More...
 

Static Public Attributes

static const
mrpt::utils::TRuntimeClassId 
classCObject
 
RTTI stuff
static const
mrpt::utils::TRuntimeClassId 
classCObservation
 
RTTI stuff
static const
mrpt::utils::TRuntimeClassId 
classCSerializable
 

Protected Member Functions

void swap (CObservation &o)
 Swap with another observation, ONLY the data defined here in the base class CObservation. It's protected since it'll be only called from child classes that should know what else to swap appart from these common data. More...
 
CSerializable virtual methods
void writeToStream (mrpt::utils::CStream &out, int *getVersion) const
 Introduces a pure virtual method responsible for writing to a CStream. More...
 
void readFromStream (mrpt::utils::CStream &in, int version)
 Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. More...
 

RTTI stuff

typedef CObservationRawDAQPtr SmartPtr
 
static mrpt::utils::CLASSINIT _init_CObservationRawDAQ
 
static mrpt::utils::TRuntimeClassId classCObservationRawDAQ
 
static const
mrpt::utils::TRuntimeClassId
classinfo
 
static const
mrpt::utils::TRuntimeClassId
_GetBaseClass ()
 
virtual const
mrpt::utils::TRuntimeClassId
GetRuntimeClass () const
 Returns information about the class of an object in runtime. More...
 
virtual mrpt::utils::CObjectduplicate () const
 Returns a copy of the object, indepently of its class. More...
 
static mrpt::utils::CObjectCreateObject ()
 
static CObservationRawDAQPtr Create ()
 

Member Typedef Documentation

A typedef for the associated smart pointer

Definition at line 33 of file CObservationRawDAQ.h.

Constructor & Destructor Documentation

mrpt::slam::CObservationRawDAQ::CObservationRawDAQ ( )
inline

Constructor.

Definition at line 36 of file CObservationRawDAQ.h.

virtual mrpt::slam::CObservationRawDAQ::~CObservationRawDAQ ( )
inlinevirtual

Destructor.

Definition at line 38 of file CObservationRawDAQ.h.

Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::slam::CObservationRawDAQ::_GetBaseClass ( )
staticprotected
CObject* mrpt::utils::CObject::clone ( ) const
inlineinherited

Cloning interface for smart pointers.

Definition at line 139 of file CObject.h.

static CObservationRawDAQPtr mrpt::slam::CObservationRawDAQ::Create ( )
static
static mrpt::utils::CObject* mrpt::slam::CObservationRawDAQ::CreateObject ( )
static
virtual mrpt::utils::CObject* mrpt::slam::CObservationRawDAQ::duplicate ( ) const
virtual

Returns a copy of the object, indepently of its class.

Implements mrpt::utils::CObject.

mrpt::utils::CObjectPtr mrpt::utils::CObject::duplicateGetSmartPtr ( ) const
inlineinherited

Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer).

Definition at line 136 of file CObject.h.

virtual const mrpt::utils::TRuntimeClassId* mrpt::slam::CObservationRawDAQ::GetRuntimeClass ( ) const
virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::slam::CObservation.

void mrpt::slam::CObservationRawDAQ::getSensorPose ( CPose3D out_sensorPose) const
inlinevirtual

Not used in this class.

Implements mrpt::slam::CObservation.

Definition at line 64 of file CObservationRawDAQ.h.

void mrpt::slam::CObservation::getSensorPose ( mrpt::math::TPose3D out_sensorPose) const
inherited

A general method to retrieve the sensor pose on the robot.

Note that most sensors will return a full (6D) CPose3D, but see the derived classes for more details or special cases.

See Also
setSensorPose
template<class METRICMAP >
bool mrpt::slam::CObservation::insertObservationInto ( METRICMAP *  theMap,
const CPose3D robotPose = NULL 
) const
inlineinherited

This method is equivalent to:

map->insertObservation(this, robotPose)
Parameters
theMapThe map where this observation is to be inserted: the map will be updated.
robotPoseThe pose of the robot base for this observation, relative to the target metric map. Set to NULL (default) to use (0,0,0deg)
Returns
Returns true if the map has been updated, or false if this observations has nothing to do with a metric map (for example, a sound observation).
See Also
CMetricMap, CMetricMap::insertObservation

Definition at line 93 of file CObservation.h.

virtual void mrpt::slam::CObservation::load ( ) const
inlinevirtualinherited

Makes sure all images and other fields which may be externally stored are loaded in memory.

Note that for all CImages, calling load() is not required since the images will be automatically loaded upon first access, so load() shouldn't be needed to be called in normal cases by the user. If all the data were alredy loaded or this object has no externally stored data fields, calling this method has no effects.

See Also
unload

Reimplemented in mrpt::slam::CObservation3DRangeScan.

Definition at line 130 of file CObservation.h.

void mrpt::slam::CObservationRawDAQ::operator delete ( void *  memory,
void *  ptr 
)
throw (
)
inline

Definition at line 33 of file CObservationRawDAQ.h.

void mrpt::slam::CObservationRawDAQ::operator delete ( void *  ptr)
throw (
)
inline

Definition at line 33 of file CObservationRawDAQ.h.

void mrpt::slam::CObservationRawDAQ::operator delete ( void *  ptr,
const std::nothrow_t &   
)
throw (
)
inline

Definition at line 33 of file CObservationRawDAQ.h.

void mrpt::slam::CObservationRawDAQ::operator delete[] ( void *  ptr)
throw (
)
inline

Definition at line 33 of file CObservationRawDAQ.h.

void* mrpt::slam::CObservationRawDAQ::operator new ( size_t  size,
const std::nothrow_t &   
)
throw (
)
inline

Definition at line 33 of file CObservationRawDAQ.h.

static void* mrpt::slam::CObservationRawDAQ::operator new ( size_t  size,
void *  ptr 
)
inlinestatic

Definition at line 33 of file CObservationRawDAQ.h.

void* mrpt::slam::CObservationRawDAQ::operator new ( size_t  size)
inline

Definition at line 33 of file CObservationRawDAQ.h.

void* mrpt::slam::CObservationRawDAQ::operator new[] ( size_t  size)
inline

Definition at line 33 of file CObservationRawDAQ.h.

void mrpt::slam::CObservationRawDAQ::readFromStream ( mrpt::utils::CStream in,
int  version 
)
protectedvirtual

Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.

Parameters
inThe input binary stream where the object data must read from.
versionThe version of the object stored in the stream: use this version number in your code to know how to read the incoming data.
Exceptions
std::exceptionOn any error, see CStream::ReadBuffer
See Also
CStream

Implements mrpt::utils::CSerializable.

void mrpt::slam::CObservationRawDAQ::setSensorPose ( const CPose3D )
inlinevirtual

Not used in this class.

Implements mrpt::slam::CObservation.

Definition at line 66 of file CObservationRawDAQ.h.

void mrpt::slam::CObservation::setSensorPose ( const mrpt::math::TPose3D newSensorPose)
inherited

A general method to change the sensor pose on the robot.

Note that most sensors will use the full (6D) CPose3D, but see the derived classes for more details or special cases.

See Also
getSensorPose
void mrpt::slam::CObservation::swap ( CObservation o)
protectedinherited

Swap with another observation, ONLY the data defined here in the base class CObservation. It's protected since it'll be only called from child classes that should know what else to swap appart from these common data.

virtual void mrpt::slam::CObservation::unload ( )
inlinevirtualinherited

Unload all images, for the case they being delayed-load images stored in external files (othewise, has no effect).

See Also
load

Reimplemented in mrpt::slam::CObservation3DRangeScan.

Definition at line 134 of file CObservation.h.

void mrpt::slam::CObservationRawDAQ::writeToStream ( mrpt::utils::CStream out,
int *  getVersion 
) const
protectedvirtual

Introduces a pure virtual method responsible for writing to a CStream.

This can not be used directly be users, instead use "stream << object;" for writing it to a stream.

Parameters
outThe output binary stream where object must be dumped.
getVersionIf NULL, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data.
Exceptions
std::exceptionOn any error, see CStream::WriteBuffer
See Also
CStream

Implements mrpt::utils::CSerializable.

Member Data Documentation

mrpt::utils::CLASSINIT mrpt::slam::CObservationRawDAQ::_init_CObservationRawDAQ
staticprotected

Definition at line 33 of file CObservationRawDAQ.h.

std::vector<uint16_t> mrpt::slam::CObservationRawDAQ::AIN_16bits

Readings from 8-bit analog input (ADCs) channels (vector length=channel count) in ADC units.

Definition at line 42 of file CObservationRawDAQ.h.

std::vector<uint32_t> mrpt::slam::CObservationRawDAQ::AIN_32bits

Readings from 16-bit analog input (ADCs) channels (vector length=channel count) in ADC units.

Definition at line 43 of file CObservationRawDAQ.h.

std::vector<uint8_t> mrpt::slam::CObservationRawDAQ::AIN_8bits

Definition at line 41 of file CObservationRawDAQ.h.

uint16_t mrpt::slam::CObservationRawDAQ::AIN_channel_count

Readings from analog input (ADCs) channels (vector length=channel count) in Volts.

How many different ADC channels are present in the AIN_* vectors.

Definition at line 47 of file CObservationRawDAQ.h.

std::vector<double> mrpt::slam::CObservationRawDAQ::AIN_double

Readings from analog input (ADCs) channels (vector length=channel count) in Volts.

Definition at line 45 of file CObservationRawDAQ.h.

std::vector<float> mrpt::slam::CObservationRawDAQ::AIN_float

Readings from 32-bit analog input (ADCs) channels (vector length=channel count) in ADC units.

Definition at line 44 of file CObservationRawDAQ.h.

bool mrpt::slam::CObservationRawDAQ::AIN_interleaved

Whether the channels are interleaved (A0 A1 A2 A0 A1 A2...) or not (A0 A0 A0 A1 A1 A1 A2 A2 A2...) in the AIN_* vectors.

Definition at line 48 of file CObservationRawDAQ.h.

std::vector<uint16_t> mrpt::slam::CObservationRawDAQ::AOUT_16bits

Present output values for 8-bit analog output (DACs) channels (vector length=channel count) in DAC units.

Definition at line 51 of file CObservationRawDAQ.h.

std::vector<uint8_t> mrpt::slam::CObservationRawDAQ::AOUT_8bits

Definition at line 50 of file CObservationRawDAQ.h.

std::vector<double> mrpt::slam::CObservationRawDAQ::AOUT_double

Present output values for 16-bit analog output (DACs) channels (vector length=channel count) in volts.

Definition at line 53 of file CObservationRawDAQ.h.

std::vector<float> mrpt::slam::CObservationRawDAQ::AOUT_float

Present output values for 16-bit analog output (DACs) channels (vector length=channel count) in DAC units.

Definition at line 52 of file CObservationRawDAQ.h.

const mrpt::utils::TRuntimeClassId mrpt::utils::CObject::classCObject
staticinherited

Definition at line 124 of file CObject.h.

const mrpt::utils::TRuntimeClassId mrpt::slam::CObservation::classCObservation
staticinherited

Definition at line 55 of file CObservation.h.

mrpt::utils::TRuntimeClassId mrpt::slam::CObservationRawDAQ::classCObservationRawDAQ
static

Definition at line 33 of file CObservationRawDAQ.h.

const mrpt::utils::TRuntimeClassId mrpt::utils::CSerializable::classCSerializable
staticinherited

Definition at line 38 of file CSerializable.h.

const mrpt::utils::TRuntimeClassId* mrpt::slam::CObservationRawDAQ::classinfo
static

Definition at line 33 of file CObservationRawDAQ.h.

std::vector<uint32_t> mrpt::slam::CObservationRawDAQ::CNTRIN_32bits

Present digital output values; each byte stores 8 digital inputs, or 8-bit port.

Definition at line 58 of file CObservationRawDAQ.h.

std::vector<double> mrpt::slam::CObservationRawDAQ::CNTRIN_double

Readings from ticks counters, such as quadrature encoders.

(vector length=channel count) in ticks.

Definition at line 59 of file CObservationRawDAQ.h.

std::vector<uint8_t> mrpt::slam::CObservationRawDAQ::DIN

Present output values for 16-bit analog output (DACs) channels (vector length=channel count) in volts.

Definition at line 55 of file CObservationRawDAQ.h.

std::vector<uint8_t> mrpt::slam::CObservationRawDAQ::DOUT

Readings from digital inputs; each byte stores 8 digital inputs, or 8-bit port.

Definition at line 56 of file CObservationRawDAQ.h.

double mrpt::slam::CObservationRawDAQ::sample_rate

Readings from ticks counters, such as quadrature encoders.

(vector length=channel count) in radians, degrees or any other unit (depends on the source driver). The sampling rate, in samples per second per channel

Definition at line 61 of file CObservationRawDAQ.h.

std::string mrpt::slam::CObservation::sensorLabel
inherited

An arbitrary label that can be used to identify the sensor.

Definition at line 71 of file CObservation.h.

mrpt::system::TTimeStamp mrpt::slam::CObservation::timestamp
inherited

The associated time-stamp.

Definition at line 67 of file CObservation.h.




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