10 #define CBoardSonars_H 64 bool
A generic interface for a wide-variety of sensors designed to be used in the application RawLogGrabbe...
Declares a class derived from "CObservation" that encapsules a single range measurement, and associated parameters.
OBSERVATION_T::Ptr getObservation(mrpt::obs::CSensoryFramePtr &observations, mrpt::obs::CObservationPtr &observation, bool priority_to_sf=true)
Given an mrpt::obs::CSensoryFrame and a mrpt::obs::CObservation pointer if a OBSERVATION_T type obser...
std::map< uint16_t, mrpt::math::TPose3D > m_sonarPoses
The poses of the sonars: x[m] y[m] z[m] yaw[deg] pitch[deg] roll[deg] Up to 16 devices, but you can put any number of devices (from 1 to 16).
A copy of the device serial number (to open the USB FTDI chip)
std::vector< int32_t > m_firingOrder
The order in which sonars will be fired, indexed by their I2C addresses [0,15].
This class allows loading and storing values and vectors of different types from a configuration text...
The minimum time between sonar pings (in seconds).
This "software driver" implements the communication protocol for interfacing a Ultrasonic range finde...
A value between 0 and 16, for gains between 40 and 700 (not linear).
GLsizei const GLchar ** string
This declaration must be inserted in all CGenericSensor classes definition, within the class declarat...
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
A definition of a CStream actually representing a USB connection to a FTDI chip.
The maximum range in meters, used for the internal device timer (value between 4cm and 11m)...
std::map< uint16_t, int32_t > m_sonarGains
The individual gains of the sonars, indexed by their I2C addresses [0,15].