Main MRPT website > C++ reference for MRPT 1.4.0
List of all members | Classes | Public Types | Public Member Functions | Static Public Member Functions | Protected Member Functions | Protected Attributes
mrpt::hwdrivers::CActivMediaRobotBase Class Referenceabstract

Detailed Description

This software driver implements the communications (and some rudimentary control) for ActivMedia robotic bases (Pioneer DX/AT, PeopleBot, etc).

There is implemented access to robot odometry, ticks counts, velocities, battery charge status, and sonar readings, as well as basic velocity control.

It is required to check MRPT_BUILD_ARIA in the cmake configuration to enable this class to work properly.

See also the application "rawlog-grabber" for a ready-to-use application to gather data from the robot base. Through that "common sensor interface", this object can collect these kinds of observations:

To use this class out of rawlog-grabber, "initialize" must be called to connect to the robot. Before that, set the serial port with setSerialPortConfig.

Example .ini block for rawlog-grabber (format used in "loadConfig"):

PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
-------------------------------------------------------
[supplied_section_name]
robotPort_WIN = COM1
robotPort_LIN = /dev/ttyUSB0
robotBaud = 115200
enableSonars = 0 ; 0:Disabled (default), 1: Enabled
capture_rate = 10.0 ; In Hz, the rate at which sonars & odometry are gathered (default=10Hz)
joystick_control = 0 ; 0:Disabled (default), 1: Enabled
joystick_max_v = 0.1 ; Max joystick control speed (m/s)
joystick_max_w_degps = 20 ; Max joystick control speed (deg/s)

Definition at line 57 of file CActivMediaRobotBase.h.

#include <mrpt/hwdrivers/CActivMediaRobotBase.h>

Inheritance diagram for mrpt::hwdrivers::CActivMediaRobotBase:
Inheritance graph

Classes

struct  TRobotDescription
 A structure describing the robot. More...
 

Public Types

enum  TSensorState { ssInitializing = 0, ssWorking, ssError }
 The current state of the sensor. More...
 
typedef std::multimap
< mrpt::system::TTimeStamp,
mrpt::utils::CSerializablePtr > 
TListObservations
 
typedef std::pair
< mrpt::system::TTimeStamp,
mrpt::utils::CSerializablePtr > 
TListObsPair
 

Public Member Functions

void initialize ()
 Connects to the robot. More...
 
 CActivMediaRobotBase ()
 Constructor. More...
 
virtual ~CActivMediaRobotBase ()
 Destructor: turns off communications. More...
 
void setSerialPortConfig (const std::string &portName, int portBaudRate)
 Manually sets the serial port configuration. More...
 
std::string getSerialPort () const
 Returns the current value of the serial port. More...
 
int getSerialPortBaudRate () const
 Returns the current value of the serial port baudrate. More...
 
void doProcess ()
 Collect odometry readings and put them in the "observations" queue: DO NOT call this normally, it's useful only for the application rawloggrabber. More...
 
void changeOdometry (const mrpt::poses::CPose2D &newOdometry)
 Change the current robot odometry pose. More...
 
void getOdometry (poses::CPose2D &out_odom)
 Get the current robot's odometry. More...
 
void getOdometryFull (poses::CPose2D &out_odom, double &out_lin_vel, double &out_ang_vel, int64_t &out_left_encoder_ticks, int64_t &out_right_encoder_ticks)
 Get the current robot's odometry. More...
 
void getOdometryIncrement (poses::CPose2D &out_incr_odom, double &out_lin_vel, double &out_ang_vel, int64_t &out_incr_left_encoder_ticks, int64_t &out_incr_right_encoder_ticks)
 Get the robot's odometry increment since the last call to this method (the first time the increments are always fixed to zero). More...
 
void getSonarsReadings (bool &thereIsObservation, mrpt::obs::CObservationRange &obs)
 Get the readings from the sonars, only if the observations are new. More...
 
void getBatteryCharge (double &out_batery_volts)
 Get the robot battery charge - normalized to 12V. More...
 
void getRealBatteryCharge (double &out_batery_volts)
 Get the robot real battery charge. More...
 
void setVelocities (const double lin_vel, const double ang_vel)
 Set the robot linear and angular velocities. More...
 
void enableSonars ()
 Enable sonars. More...
 
void disableSonars ()
 Disable sonars. More...
 
void getBumpers (vector_bool &bumper_state)
 Get state of bumpers: at output, the vector will be resized to the number of bumpers, and elements with "true" means bumper is pressed. More...
 
void getRobotInformation (TRobotDescription &info)
 Get information about the robot and its sensors. More...
 
void enableJoystickControl (bool enable=true)
 Enable/disable manual control of the robot with a Joystick. More...
 
bool isJoystickControlEnabled () const
 Get state of manual control with a joystick. More...
 
void DisableMotors ()
 Disable motors but keeps the connection with ARIA. More...
 
void EnableMotors ()
 Enable motors after a call to DisableMotors() More...
 
bool areMotorsEnabled () const
 Get the motors state. More...
 
virtual const
mrpt::hwdrivers::TSensorClassId
GetRuntimeClass () 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::utils::CConfigFileBase &configSource, const std::string &section)
 Loads the generic settings common to any sensor (See CGenericSensor), then call to "loadConfig_sensorSpecific"

Exceptions
Thismethod throws an exception with a descriptive message if some critical parameter is missing or has an invalid value.
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 CGenericSensorPtr createSensorPtr (const std::string &className)
 Just like createSensor, but returning a smart pointer to the newly created sensor object. More...
 

Protected Member Functions

void disconnectAndDisableMotors ()
 
void connectAndEnableMotors ()
 
void loadConfig_sensorSpecific (const mrpt::utils::CConfigFileBase &configSource, const std::string &iniSection)
 See the class documentation at the top for expected parameters. More...
 
void appendObservations (const std::vector< mrpt::utils::CSerializablePtr > &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::utils::CSerializablePtr &obj)
 Like appendObservations() but for just one observation. More...
 

Protected Attributes

std::string m_com_port
 The serial port name to use for communications (COM1, ttyS1,...) More...
 
int m_robotBaud
 The bauds for ARIA communications to the robot. More...
 
bool m_firstIncreOdometry
 Used in getOdometryIncrement. More...
 
bool m_enableSonars
 
void * m_robot
 
void * m_sonarDev
 
void * m_simpleConnector
 The connection to the robot. More...
 
unsigned int m_lastTimeSonars
 
bool m_enableJoyControl
 For use with rawlog-grabber. More...
 
float m_joy_max_v
 
float m_joy_max_w
 
CJoystick m_joystick
 The joystick opened at first usage. More...
 
mrpt::system::TTimeStamp m_last_do_process
 
double m_capture_rate
 In Hz, the rate at which sonars & odometry are gathered (default=10Hz) 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

typedef std::multimap< mrpt::system::TTimeStamp, mrpt::utils::CSerializablePtr > mrpt::hwdrivers::CGenericSensor::TListObservations
inherited

Definition at line 68 of file CGenericSensor.h.

typedef std::pair< mrpt::system::TTimeStamp, mrpt::utils::CSerializablePtr > mrpt::hwdrivers::CGenericSensor::TListObsPair
inherited

Definition at line 69 of file CGenericSensor.h.

Member Enumeration Documentation

The current state of the sensor.

See Also
CGenericSensor::getState
Enumerator
ssInitializing 
ssWorking 
ssError 

Definition at line 74 of file CGenericSensor.h.

Constructor & Destructor Documentation

mrpt::hwdrivers::CActivMediaRobotBase::CActivMediaRobotBase ( )

Constructor.

virtual mrpt::hwdrivers::CActivMediaRobotBase::~CActivMediaRobotBase ( )
virtual

Destructor: turns off communications.

Member Function Documentation

void mrpt::hwdrivers::CGenericSensor::appendObservation ( const mrpt::utils::CSerializablePtr &  obj)
inlineprotectedinherited

Like appendObservations() but for just one observation.

Definition at line 146 of file CGenericSensor.h.

void mrpt::hwdrivers::CGenericSensor::appendObservations ( const std::vector< mrpt::utils::CSerializablePtr > &  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::CObservationGPSPtr o = CObservationGPSPtr( 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.

bool mrpt::hwdrivers::CActivMediaRobotBase::areMotorsEnabled ( ) const

Get the motors state.

void mrpt::hwdrivers::CActivMediaRobotBase::changeOdometry ( const mrpt::poses::CPose2D newOdometry)

Change the current robot odometry pose.

void mrpt::hwdrivers::CActivMediaRobotBase::connectAndEnableMotors ( )
protected
static CGenericSensor* mrpt::hwdrivers::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 NULL if class name is unknown.
static CGenericSensorPtr 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 179 of file CGenericSensor.h.

void mrpt::hwdrivers::CActivMediaRobotBase::DisableMotors ( )

Disable motors but keeps the connection with ARIA.

void mrpt::hwdrivers::CActivMediaRobotBase::disableSonars ( )

Disable sonars.

void mrpt::hwdrivers::CActivMediaRobotBase::disconnectAndDisableMotors ( )
protected
void mrpt::hwdrivers::CActivMediaRobotBase::doProcess ( )
virtual

Collect odometry readings and put them in the "observations" queue: DO NOT call this normally, it's useful only for the application rawloggrabber.

Implements mrpt::hwdrivers::CGenericSensor.

void mrpt::hwdrivers::CActivMediaRobotBase::enableJoystickControl ( bool  enable = true)
inline

Enable/disable manual control of the robot with a Joystick.

Definition at line 168 of file CActivMediaRobotBase.h.

void mrpt::hwdrivers::CActivMediaRobotBase::EnableMotors ( )

Enable motors after a call to DisableMotors()

void mrpt::hwdrivers::CActivMediaRobotBase::enableSonars ( )

Enable sonars.

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 92 of file CGenericSensor.h.

void mrpt::hwdrivers::CActivMediaRobotBase::getBatteryCharge ( double &  out_batery_volts)

Get the robot battery charge - normalized to 12V.

void mrpt::hwdrivers::CActivMediaRobotBase::getBumpers ( vector_bool bumper_state)

Get state of bumpers: at output, the vector will be resized to the number of bumpers, and elements with "true" means bumper is pressed.

unsigned int mrpt::hwdrivers::CGenericSensor::getExternalImageJPEGQuality ( ) const
inlineinherited

Definition at line 233 of file CGenericSensor.h.

void mrpt::hwdrivers::CGenericSensor::getObservations ( TListObservations lstObjects)
inherited

Returns a list of enqueued objects, emptying it (thread-safe).

The objects must be freed by the invoker.

void mrpt::hwdrivers::CActivMediaRobotBase::getOdometry ( poses::CPose2D out_odom)

Get the current robot's odometry.

Parameters
out_odomThe odometry will be returned here.
See Also
getOdometryFull, getOdometryIncrement
void mrpt::hwdrivers::CActivMediaRobotBase::getOdometryFull ( poses::CPose2D out_odom,
double &  out_lin_vel,
double &  out_ang_vel,
int64_t &  out_left_encoder_ticks,
int64_t &  out_right_encoder_ticks 
)

Get the current robot's odometry.

Parameters
out_odomThe odometry will be returned here.
out_lin_velThe linear speed, in m/s, positive is forward.
out_ang_velThe angular speed, in rad/s, positive is anticlockwise.
out_left_encoder_ticksThe current overall count of ticks for the left wheel encoder.
out_right_encoder_ticksThe current overall count of ticks for the right wheel encoder.
See Also
getOdometry, getOdometryIncrement
void mrpt::hwdrivers::CActivMediaRobotBase::getOdometryIncrement ( poses::CPose2D out_incr_odom,
double &  out_lin_vel,
double &  out_ang_vel,
int64_t &  out_incr_left_encoder_ticks,
int64_t &  out_incr_right_encoder_ticks 
)

Get the robot's odometry increment since the last call to this method (the first time the increments are always fixed to zero).

Parameters
out_odomThe odometry increment.
out_lin_velThe current linear speed, in m/s, positive is forward (Absolute values, not increments)
out_ang_velThe angular speed, in rad/s, positive is anticlockwise (Absolute values, not increments).
out_left_encoder_ticksThe increment in ticks for the left wheel encoder.
out_right_encoder_ticksThe increment in ticks for the right wheel encoder.
See Also
getOdometry, getOdometryFull
double mrpt::hwdrivers::CGenericSensor::getProcessRate ( ) const
inlineinherited

Definition at line 84 of file CGenericSensor.h.

void mrpt::hwdrivers::CActivMediaRobotBase::getRealBatteryCharge ( double &  out_batery_volts)

Get the robot real battery charge.

void mrpt::hwdrivers::CActivMediaRobotBase::getRobotInformation ( TRobotDescription info)

Get information about the robot and its sensors.

virtual const mrpt::hwdrivers::TSensorClassId* mrpt::hwdrivers::CGenericSensor::GetRuntimeClass ( ) const
pure virtualinherited
std::string mrpt::hwdrivers::CGenericSensor::getSensorLabel ( ) const
inlineinherited

Definition at line 86 of file CGenericSensor.h.

std::string mrpt::hwdrivers::CActivMediaRobotBase::getSerialPort ( ) const
inline

Returns the current value of the serial port.

Definition at line 92 of file CActivMediaRobotBase.h.

int mrpt::hwdrivers::CActivMediaRobotBase::getSerialPortBaudRate ( ) const
inline

Returns the current value of the serial port baudrate.

Definition at line 95 of file CActivMediaRobotBase.h.

void mrpt::hwdrivers::CActivMediaRobotBase::getSonarsReadings ( bool &  thereIsObservation,
mrpt::obs::CObservationRange obs 
)

Get the readings from the sonars, only if the observations are new.

TSensorState mrpt::hwdrivers::CGenericSensor::getState ( ) const
inlineinherited

The current state of the sensor.

Definition at line 82 of file CGenericSensor.h.

void mrpt::hwdrivers::CActivMediaRobotBase::initialize ( )
virtual

Connects to the robot.

Reimplemented from mrpt::hwdrivers::CGenericSensor.

bool mrpt::hwdrivers::CActivMediaRobotBase::isJoystickControlEnabled ( ) const
inline

Get state of manual control with a joystick.

Definition at line 171 of file CActivMediaRobotBase.h.

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

Definition at line 93 of file CGenericSensor.h.

void mrpt::hwdrivers::CGenericSensor::loadConfig ( const mrpt::utils::CConfigFileBase configSource,
const std::string &  section 
)
inherited

Loads the generic settings common to any sensor (See CGenericSensor), then call to "loadConfig_sensorSpecific"

Exceptions
Thismethod throws an exception with a descriptive message if some critical parameter is missing or has an invalid value.

void mrpt::hwdrivers::CActivMediaRobotBase::loadConfig_sensorSpecific ( const mrpt::utils::CConfigFileBase configSource,
const std::string &  iniSection 
)
protectedvirtual

See the class documentation at the top for expected parameters.

Implements mrpt::hwdrivers::CGenericSensor.

static void mrpt::hwdrivers::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.

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

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 225 of file CGenericSensor.h.

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 230 of file CGenericSensor.h.

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 216 of file CGenericSensor.h.

References MRPT_UNUSED_PARAM.

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

Definition at line 87 of file CGenericSensor.h.

void mrpt::hwdrivers::CActivMediaRobotBase::setSerialPortConfig ( const std::string &  portName,
int  portBaudRate 
)

Manually sets the serial port configuration.

Parameters
portNameExamples: Windows: "COM1" , Linux: "/dev/ttyUSB0"
portBaudRate9600, 115200, etc..
See Also
loadConfig
void mrpt::hwdrivers::CActivMediaRobotBase::setVelocities ( const double  lin_vel,
const double  ang_vel 
)

Set the robot linear and angular velocities.

Parameters
lin_velLinear speed, in m/s.
ang_velAngular speed, in rad/s.

Member Data Documentation

double mrpt::hwdrivers::CActivMediaRobotBase::m_capture_rate
protected

In Hz, the rate at which sonars & odometry are gathered (default=10Hz)

Definition at line 202 of file CActivMediaRobotBase.h.

std::string mrpt::hwdrivers::CActivMediaRobotBase::m_com_port
protected

The serial port name to use for communications (COM1, ttyS1,...)

Definition at line 183 of file CActivMediaRobotBase.h.

bool mrpt::hwdrivers::CActivMediaRobotBase::m_enableJoyControl
protected

For use with rawlog-grabber.

Definition at line 196 of file CActivMediaRobotBase.h.

bool mrpt::hwdrivers::CActivMediaRobotBase::m_enableSonars
protected

Definition at line 187 of file CActivMediaRobotBase.h.

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 130 of file CGenericSensor.h.

unsigned int mrpt::hwdrivers::CGenericSensor::m_external_images_jpeg_quality
protectedinherited

For JPEG images, the quality (default=95%).

Definition at line 131 of file CGenericSensor.h.

bool mrpt::hwdrivers::CActivMediaRobotBase::m_firstIncreOdometry
protected

Used in getOdometryIncrement.

Definition at line 186 of file CActivMediaRobotBase.h.

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 117 of file CGenericSensor.h.

size_t mrpt::hwdrivers::CGenericSensor::m_grab_decimation_counter
protectedinherited

Used when "m_grab_decimation" is enabled.

Definition at line 122 of file CGenericSensor.h.

float mrpt::hwdrivers::CActivMediaRobotBase::m_joy_max_v
protected

Definition at line 197 of file CActivMediaRobotBase.h.

float mrpt::hwdrivers::CActivMediaRobotBase::m_joy_max_w
protected

Definition at line 197 of file CActivMediaRobotBase.h.

CJoystick mrpt::hwdrivers::CActivMediaRobotBase::m_joystick
protected

The joystick opened at first usage.

Definition at line 199 of file CActivMediaRobotBase.h.

mrpt::system::TTimeStamp mrpt::hwdrivers::CActivMediaRobotBase::m_last_do_process
protected

Definition at line 201 of file CActivMediaRobotBase.h.

unsigned int mrpt::hwdrivers::CActivMediaRobotBase::m_lastTimeSonars
protected

Definition at line 194 of file CActivMediaRobotBase.h.

size_t mrpt::hwdrivers::CGenericSensor::m_max_queue_len
protectedinherited

See CGenericSensor.

Definition at line 116 of file CGenericSensor.h.

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 129 of file CGenericSensor.h.

double mrpt::hwdrivers::CGenericSensor::m_process_rate
protectedinherited

See CGenericSensor.

Definition at line 115 of file CGenericSensor.h.

void* mrpt::hwdrivers::CActivMediaRobotBase::m_robot
protected

Definition at line 190 of file CActivMediaRobotBase.h.

int mrpt::hwdrivers::CActivMediaRobotBase::m_robotBaud
protected

The bauds for ARIA communications to the robot.

Definition at line 184 of file CActivMediaRobotBase.h.

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

See CGenericSensor.

Definition at line 118 of file CGenericSensor.h.

void* mrpt::hwdrivers::CActivMediaRobotBase::m_simpleConnector
protected

The connection to the robot.

Definition at line 192 of file CActivMediaRobotBase.h.

void* mrpt::hwdrivers::CActivMediaRobotBase::m_sonarDev
protected

Definition at line 191 of file CActivMediaRobotBase.h.

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

Definition at line 124 of file CGenericSensor.h.

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

Definition at line 125 of file CGenericSensor.h.




Page generated by Doxygen 1.8.6 for MRPT 1.4.0 SVN: at dom ago 20 02:31:29 CEST 2017 Hosted on:
SourceForge.net Logo