CIMUXSens_MT4.h

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2017, 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 CIMUXSens_MT4_H
#define CIMUXSens_MT4_H

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

namespace mrpt
{
        namespace hwdrivers
        {

                /** A class for interfacing XSens 4th generation Inertial Measuring Units (IMUs): MTi 10-series, MTi 100-series.
                  *  Usage considerations:
                  *    - In Windows, you only need to install XSens drivers.
                  *    - In Linux, this class requires the system libraries: libusb-1.0 & libudev (dev packages). Accessing USB devices may require
                  *      running the program as super user ("sudo"). To avoid that, Or, install <code> MRPT/scripts/52-xsens.rules </code> in <code>/etc/udev/rules.d/</code> to allow access to all users.
                  *
                  *  For the older 3rd generation devices, see the class mrpt::hwdrivers::CIMUXSens
                  *
                  *  \code
                  *  PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
                  * -------------------------------------------------------
                  *   [supplied_section_name]
                  *    pose_x=0     // Sensor 3D position relative to the robot (meters)
                  *    pose_y=0
                  *    pose_z=0
                  *    pose_yaw=0       // Angles in degrees
                  *    pose_pitch=0
                  *    pose_roll=0
                  *    sensorLabel = <label>   // Label of the sensor
                  *    ;sampleFreq  = 100  // The requested rate of sensor packets (default: 100Hz)
                  *    ; If a portname is not provided, the first found device will be opened:
                  *    ;portname_LIN    = USB002:005
                  *    ;portname_WIN    = \\?\usb#vid_2639&pid_0003#...
                  *    ;baudRate            = 115200             ; Baudrate for communicating, only if the port is a COM port
                  *  \endcode
                  *
                  *  \note Set the environment variable "MRPT_HWDRIVERS_VERBOSE" to "1" to enable diagnostic information while using this class.
                  *
                  * \ingroup mrpt_hwdrivers_grp
                  */
                class HWDRIVERS_IMPEXP CIMUXSens_MT4 : public hwdrivers::CGenericSensor
                {
                        DEFINE_GENERIC_SENSOR(CIMUXSens_MT4)
                protected:
                        int                                                     m_port_bauds; //!< Baudrate, only for COM ports.
                        std::string                                     m_portname;   //!< The USB or COM port name (if blank -> autodetect)
                        int      m_sampleFreq;

                        uint64_t                                        m_timeStartUI;
                        mrpt::system::TTimeStamp        m_timeStartTT;

                        mrpt::poses::CPose3D            m_sensorPose;

                        void * /*DeviceClass */         m_dev_ptr;
                        void * /*XsDeviceId */      m_devid_ptr;

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

                public:
                        /** Constructor
                          */
                        CIMUXSens_MT4( );

                        /** Destructor
                          */
                        virtual ~CIMUXSens_MT4();


                        /** 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 xSens device and configure it for getting orientation data */
                        void initialize();

                }; // end of class

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

#endif