CIMUIntersense.h

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2014, Individual contributors, see AUTHORS file        |
   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
   | Released under BSD License. See details in http://www.mrpt.org/License    |
   +---------------------------------------------------------------------------+ */

#ifndef CIMUIntersense_H
#define CIMUIntersense_H


#include <mrpt/hwdrivers/CGenericSensor.h>
#include <mrpt/hwdrivers/CSerialPort.h>
#include <mrpt/poses/CPose3D.h>

namespace mrpt
{
        namespace hwdrivers
        {

                /** A class for interfacing Intersense Inertial Measuring Units (IMUs).
                  *  It connects to a InterSense inertiaCube 3 sensor and records inertial data.
                  *  NOTE: This device provides:
                  *             - Euler angles, 
                  *             - 2 angular velocties (body-frame and navigation-frame)
                  *             - X,Y,Z velocity
                  *             - 2 accelerations (body-frame and navigation-frame)
                  *
                  *             In order to record all this information within the 'rawMeasurements' vector in mrpt::obs::CObservationIMU, some of it had to be stored in positions which weren't intended for the stored data (marked with *):
                  *             - Euler angles --> rawMeasurements[IMU_YAW], rawMeasurements[IMU_PITCH], rawMeasurements[IMU_ROLL]
                  *             - Body-frame angular velocity --> rawMeasurements[IMU_YAW_VEL], rawMeasurements[IMU_PITCH_VEL], rawMeasurements[IMU_ROLL_VEL]
                  *             - * Nav-frame angular velocity --> rawMeasurements[IMU_MAG_X], rawMeasurements[IMU_MAG_Y], rawMeasurements[IMU_MAG_Z]
                  *             - XYZ velocity --> rawMeasurements[IMU_X_VEL], rawMeasurements[IMU_Y_VEL], rawMeasurements[IMU_Z_VEL]
                  *             - Body-frame acceleration --> rawMeasurements[IMU_X_ACC], rawMeasurements[IMU_Y_ACC], rawMeasurements[IMU_Z_ACC]
                  *             - * Nav-frame acceleration --> rawMeasurements[IMU_X], rawMeasurements[IMU_Y], rawMeasurements[IMU_Z]
                  *             Be careful with this when using the grabbed mrpt::obs::CObservationIMU data.
                  *
                  *  See also the application "rawlog-grabber" for a ready-to-use application to gather data from this sensor.
                  *
                  *  \code
                  *  PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
                  * -------------------------------------------------------
                  *   [supplied_section_name]
                  *    driver           = CIMUIntersense
                  *        sensorLabel  = <label>                       ; Label of the sensor
                  *    pose_x           = 0                                     ; [double] Sensor 3D position relative to the robot (meters)
                  *    pose_y           = 0
                  *    pose_z           = 0
                  *    pose_yaw         = 0                                     ; [double] Angles in degrees
                  *    pose_pitch       = 0
                  *    pose_roll        = 0
                  *
                  *        sensitivity  = 10                            ; [int] Sensor sensitivity (see API documentation)
                  *        enhancement  = 2                                     ; [int] Enhancement mode (see API documentation)
                  *        prediction   = 0                                     ; [int] Prediction mode (see API documentation)
                  *        useBuffer    = 0                                     ; [bool] {0,1} (unused by now) Whether or not use a buffer for storing old data (see API documentation) 
                  *                                                               
                  *  \endcode
                  * \note Class introduced in MRPT 1.3.1
                  * \ingroup mrpt_hwdrivers_grp
                  */
                class HWDRIVERS_IMPEXP CIMUIntersense : public hwdrivers::CGenericSensor
                {
                        DEFINE_GENERIC_SENSOR(CIMUIntersense)
                protected:

                        /** Opaque pointer to specifid iSense IMU structure */
                        void * /* ISD_TRACKER_HANDLE* */        m_handles_ptr;

                        /** Timestamp management */
                        uint32_t                                        m_timeStartUI;
                        mrpt::system::TTimeStamp        m_timeStartTT;
                        
                        mrpt::poses::CPose3D            m_sensorPose;
                        int                                                     m_nSensors;

                        /* Configurable parameters */
                        uint32_t                                        m_sensitivity;
                        uint32_t                                        m_enhancement;
                        uint32_t                                        m_prediction;
                        bool                                            m_useBuffer;

                        unsigned int                            m_toutCounter;                          //!< Timeout counter (for internal use only)

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

                public:
                        /** Constructor
                          */
                        CIMUIntersense( );

                        /** Destructor
                          */
                        virtual ~CIMUIntersense();

                        /** This method will be invoked at a minimum rate of "process_rate" (Hz)
                          *  \exception This method must throw an exception with a descriptive message if some critical error is found.
                          */
                        void doProcess();

                        /** Turns on the iSense device and configure it for getting orientation data */
                        void initialize();

                }; // end of class

        } // end of namespace
} // end of namespace

#endif