Main MRPT website > C++ reference for MRPT 1.5.6
List of all members | Public Types | Public Member Functions | Static Public Member Functions | Protected Member Functions | Protected Attributes | Private Member Functions | Private Attributes
mrpt::hwdrivers::CPhidgetInterfaceKitProximitySensors Class Referenceabstract

Detailed Description

: An interface for the phidget Interface kit board (1018).

Author
Adrien BARRAL - Robopec (aba@r.nosp@m.obop.nosp@m.ec.co.nosp@m.m).

An interface for the Phidgets Interface kit board (part number 1018) on wich it could be plugged either an Sharp IR adaptater board (phidget's part number : 1101),or a MaxBotix EZ-1 sonar (phidget's part number : 1118). The configuration file describe what is plugged to this board, and the geometry of the sensors on the robots. See the exemple below.

[PhidgetInterfaceKitProximitySensors]
sensorLabel = FrontProximitySensors
process_rate = 100 // Integer value in Hz (common to all sensors), default value is 50Hz.
displayRecapitulativeInformations = true // default value = false.
serialNumber = 12345 // The interface kit serial number (Integer value), default value is -1.
sensor1 = SHARP-30cm // sharp InfraRed sensor 30cm range (string value). capital to convert raw data to range data (in meters).
pose1_x = 0 // position on the robot (float value in meters)
pose1_y = 0
pose1_z = 0.5
pose1_yaw = -45.0 // Angles in degrees (float value).
pose1_pitch = 0
pose1_roll = 0
//...
sensorn = EZ1 // Maxbotix Ultrasound sonar
posen_x = 0
// ...

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 anyithing about this sensor in the configuration file. The following table enumerate the different sensors supported by this class.

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 .}

Definition at line 72 of file CPhidgetInterfaceKitProximitySensors.h.

#include <mrpt/hwdrivers/CPhidgetInterfaceKitProximitySensors.h>

Inheritance diagram for mrpt::hwdrivers::CPhidgetInterfaceKitProximitySensors:
Inheritance graph

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
 
typedef CGenericSensorPtr Ptr
 
typedef stlplus::smart_ptr
< const CGenericSensor
ConstPtr
 

Public Member Functions

 CPhidgetInterfaceKitProximitySensors ()
 Constructor. More...
 
virtual ~CPhidgetInterfaceKitProximitySensors ()
 Destructor. More...
 
void getObservation (mrpt::obs::CObservationRange &outObservation)
 This method tries to get a set of range measurements from the IR sensors. More...
 
void initialize ()
 Initialize the sensor according to the parameters previously read in the configuration file. More...
 
void doProcess ()
 This method should be called periodically. 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 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

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...
 

Private Member Functions

void loadConfig_sensorSpecific (const mrpt::utils::CConfigFileBase &configSource, const std::string &iniSection)
 See the class documentation at the top for expected parameters. More...
 

Private Attributes

std::vector< bool > m_sensorIsPlugged
 An 8 dimension vector of boolean value wich store the presence or abscence of a sensor on the phidget interface kit board. More...
 
std::vector< float > m_minRange
 The minimum range in meters, this field is automaticaly filled according to the sensor part number read in the configuration file. More...
 
std::vector< float > m_maxRange
 The maximum range in meters, this field is automaticaly filled according to the sensor part number read in the configuration file. More...
 
std::vector< SensorTypem_sensorType
 The sensor type. More...
 
std::vector< mrpt::poses::CPose3Dm_sensorPoses
 The poses of the 8 sensors x[m] y[m] z[m] yaw[deg] pitch[deg] roll[deg]. More...
 
int m_serialNumber
 The board serial number read in the configuration file. More...
 
float m_minOfMinRanges
 
float m_maxOfMaxRanges
 
voidm_carteInterfaceKit
 

Member Typedef Documentation

typedef stlplus::smart_ptr<const CGenericSensor> mrpt::hwdrivers::CGenericSensor::ConstPtr
inherited

Definition at line 103 of file CGenericSensor.h.

Definition at line 102 of file CGenericSensor.h.

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

CPhidgetInterfaceKitProximitySensors::CPhidgetInterfaceKitProximitySensors ( )

Constructor.

Parameters
serialNumberThe board's serial number. Set -1 to choose the first available board

Definition at line 33 of file CPhidgetInterfaceKitProximitySensors.cpp.

References THROW_EXCEPTION, and mrpt::hwdrivers::UNPLUGGED.

CPhidgetInterfaceKitProximitySensors::~CPhidgetInterfaceKitProximitySensors ( )
virtual

Destructor.

Definition at line 208 of file CPhidgetInterfaceKitProximitySensors.cpp.

Member Function Documentation

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

Definition at line 53 of file CGenericSensor.cpp.

References CLASS_ID, mrpt::hwdrivers::CGenericSensor::m_csObjList, mrpt::hwdrivers::CGenericSensor::m_grab_decimation, mrpt::hwdrivers::CGenericSensor::m_grab_decimation_counter, mrpt::hwdrivers::CGenericSensor::m_objList, and THROW_EXCEPTION.

Referenced by mrpt::hwdrivers::CNationalInstrumentsDAQ::doProcess(), and mrpt::hwdrivers::CKinect::doProcess().

CGenericSensor * 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.

Definition at line 103 of file CGenericSensor.cpp.

References mrpt::hwdrivers::CGenericSensor::get_registered_sensor_classes().

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 180 of file CGenericSensor.h.

void CPhidgetInterfaceKitProximitySensors::doProcess ( )
virtual

This method should be called periodically.

Period depend on the process_rate in the configuration file.

Implements mrpt::hwdrivers::CGenericSensor.

Definition at line 222 of file CPhidgetInterfaceKitProximitySensors.cpp.

References mrpt::obs::utils::getObservation(), and THROW_EXCEPTION.

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.

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

Definition at line 234 of file CGenericSensor.h.

void CPhidgetInterfaceKitProximitySensors::getObservation ( mrpt::obs::CObservationRange outObservation)
void CGenericSensor::getObservations ( TListObservations lstObjects)
inherited

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

The objects must be freed by the invoker.

Definition at line 90 of file CGenericSensor.cpp.

References mrpt::hwdrivers::CGenericSensor::m_csObjList, and mrpt::hwdrivers::CGenericSensor::m_objList.

double mrpt::hwdrivers::CGenericSensor::getProcessRate ( ) const
inlineinherited

Definition at line 84 of file CGenericSensor.h.

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.

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

The current state of the sensor.

Definition at line 82 of file CGenericSensor.h.

void CPhidgetInterfaceKitProximitySensors::initialize ( void  )
virtual

Initialize the sensor according to the parameters previously read in the configuration file.

Exceptions
throwan exception if the board could not be found.
throwan exception if the process rate can't be set on one of the board channel.

Reimplemented from mrpt::hwdrivers::CGenericSensor.

Definition at line 168 of file CPhidgetInterfaceKitProximitySensors.cpp.

References mrpt::hwdrivers::CGenericSensor::ssError, mrpt::hwdrivers::CGenericSensor::ssWorking, and THROW_EXCEPTION.

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

Definition at line 93 of file CGenericSensor.h.

void CGenericSensor::loadConfig ( const mrpt::utils::CConfigFileBase configSource,
const std::string section 
)
inherited
void CPhidgetInterfaceKitProximitySensors::loadConfig_sensorSpecific ( const mrpt::utils::CConfigFileBase configSource,
const std::string iniSection 
)
privatevirtual
void 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.

Definition at line 120 of file CGenericSensor.cpp.

References mrpt::hwdrivers::TSensorClassId::className, and mrpt::hwdrivers::CGenericSensor::get_registered_sensor_classes().

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 226 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 231 of file CGenericSensor.h.

References quality.

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 217 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.

Member Data Documentation

void* mrpt::hwdrivers::CPhidgetInterfaceKitProximitySensors::m_carteInterfaceKit
private

Definition at line 128 of file CPhidgetInterfaceKitProximitySensors.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 131 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), and mrpt::hwdrivers::CSwissRanger3DCamera::loadConfig_sensorSpecific().

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

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

Definition at line 132 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), and mrpt::hwdrivers::CSwissRanger3DCamera::loadConfig_sensorSpecific().

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 118 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CGenericSensor::appendObservations(), and mrpt::hwdrivers::CGenericSensor::loadConfig().

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

Used when "m_grab_decimation" is enabled.

Definition at line 123 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CGenericSensor::appendObservations(), and mrpt::hwdrivers::CGenericSensor::loadConfig().

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

See CGenericSensor.

Definition at line 117 of file CGenericSensor.h.

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

float mrpt::hwdrivers::CPhidgetInterfaceKitProximitySensors::m_maxOfMaxRanges
private

Definition at line 126 of file CPhidgetInterfaceKitProximitySensors.h.

std::vector<float> mrpt::hwdrivers::CPhidgetInterfaceKitProximitySensors::m_maxRange
private

The maximum range in meters, this field is automaticaly filled according to the sensor part number read in the configuration file.

Size of this vector depend on the number of sensors described in the configuration file.

Definition at line 112 of file CPhidgetInterfaceKitProximitySensors.h.

float mrpt::hwdrivers::CPhidgetInterfaceKitProximitySensors::m_minOfMinRanges
private

Definition at line 125 of file CPhidgetInterfaceKitProximitySensors.h.

std::vector<float> mrpt::hwdrivers::CPhidgetInterfaceKitProximitySensors::m_minRange
private

The minimum range in meters, this field is automaticaly filled according to the sensor part number read in the configuration file.

Size of this vector depend on the number of sensors described in the configuration file.

Definition at line 107 of file CPhidgetInterfaceKitProximitySensors.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 130 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), and mrpt::hwdrivers::CSwissRanger3DCamera::setPathForExternalImages().

double mrpt::hwdrivers::CGenericSensor::m_process_rate
protectedinherited
std::vector<bool> mrpt::hwdrivers::CPhidgetInterfaceKitProximitySensors::m_sensorIsPlugged
private

An 8 dimension vector of boolean value wich store the presence or abscence of a sensor on the phidget interface kit board.

Definition at line 103 of file CPhidgetInterfaceKitProximitySensors.h.

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

See CGenericSensor.

Definition at line 119 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CCANBusReader::CCANBusReader(), mrpt::hwdrivers::CGPSInterface::CGPSInterface(), mrpt::hwdrivers::CIMUIntersense::CIMUIntersense(), mrpt::hwdrivers::CIMUXSens::CIMUXSens(), mrpt::hwdrivers::CIMUXSens_MT4::CIMUXSens_MT4(), mrpt::hwdrivers::CKinect::CKinect(), mrpt::hwdrivers::CNationalInstrumentsDAQ::CNationalInstrumentsDAQ(), mrpt::hwdrivers::CRoboPeakLidar::CRoboPeakLidar(), mrpt::hwdrivers::CSickLaserSerial::CSickLaserSerial(), mrpt::hwdrivers::CSkeletonTracker::CSkeletonTracker(), mrpt::hwdrivers::CSwissRanger3DCamera::CSwissRanger3DCamera(), mrpt::hwdrivers::CVelodyneScanner::CVelodyneScanner(), mrpt::hwdrivers::CIMUXSens_MT4::doProcess(), mrpt::hwdrivers::CIMUXSens::doProcess(), mrpt::hwdrivers::CSkeletonTracker::doProcess(), mrpt::hwdrivers::CIMUIntersense::doProcess(), mrpt::hwdrivers::CGyroKVHDSP3000::doProcess(), mrpt::hwdrivers::CRoboPeakLidar::doProcessSimple(), mrpt::hwdrivers::CSickLaserUSB::doProcessSimple(), mrpt::hwdrivers::CCANBusReader::doProcessSimple(), mrpt::hwdrivers::CSickLaserSerial::doProcessSimple(), mrpt::hwdrivers::CHokuyoURG::doProcessSimple(), mrpt::hwdrivers::CGPSInterface::flushParsedMessagesNow(), mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), mrpt::hwdrivers::CKinect::getNextObservation(), mrpt::hwdrivers::CVelodyneScanner::getNextObservation(), mrpt::hwdrivers::CNationalInstrumentsDAQ::grabbing_thread(), mrpt::hwdrivers::CGenericSensor::loadConfig(), mrpt::hwdrivers::CSkeletonTracker::processPreview(), mrpt::hwdrivers::C2DRangeFinderAbstract::processPreview(), and mrpt::hwdrivers::CSkeletonTracker::processPreviewNone().

std::vector<mrpt::poses::CPose3D> mrpt::hwdrivers::CPhidgetInterfaceKitProximitySensors::m_sensorPoses
private

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 described in the configuration file.

Definition at line 120 of file CPhidgetInterfaceKitProximitySensors.h.

std::vector<SensorType> mrpt::hwdrivers::CPhidgetInterfaceKitProximitySensors::m_sensorType
private

The sensor type.

Definition at line 116 of file CPhidgetInterfaceKitProximitySensors.h.

int mrpt::hwdrivers::CPhidgetInterfaceKitProximitySensors::m_serialNumber
private

The board serial number read in the configuration file.

-1 for any board.

Definition at line 124 of file CPhidgetInterfaceKitProximitySensors.h.

TSensorState mrpt::hwdrivers::CGenericSensor::m_state
protectedinherited
bool mrpt::hwdrivers::CGenericSensor::m_verbose
protectedinherited



Page generated by Doxygen 1.8.6 for MRPT 1.5.6 Git: 4c65e84 Tue Apr 24 08:18:17 2018 +0200 at mar abr 24 08:26:17 CEST 2018