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mrpt::hwdrivers::CIMUXSens Class Referenceabstract
[mrpt-hwdrivers]

Detailed Description

A class for interfacing XSens 3rd generation Inertial Measuring Units (IMUs), the "XSens MTi" model.

It uses a serial port or USB-to-serial adapter to communicate to the device, so no special drivers are needed. For the more recent 4th generation devices, see the class mrpt::hwdrivers::CIMUXSens_MT4

See also the application "rawlog-grabber" for a ready-to-use application to gather data from the scanner.

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
COM_port_LIN = /dev/ttyUSB0 ; COM PORT in LINUX (optional. If not provided, the system will search the connected port)
COM_port_WIN = COM1 ; COM PORT in Windows (optional. If not provided, the system will search the connected port)
baudRate ; Baudrate for communicating with the COM port (mandatory for Linux)
(for Windows, if COM_port_WIN is not provided, this value is ignored)

Definition at line 48 of file CIMUXSens.h.

#include <mrpt/hwdrivers/CIMUXSens.h>

Inheritance diagram for mrpt::hwdrivers::CIMUXSens:
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 std::shared_ptr< const CGenericSensor > ConstPtr
 

Public Member Functions

 CIMUXSens ()
 Constructor. More...
 
virtual ~CIMUXSens ()
 Destructor. More...
 
void doProcess ()
 This method will be invoked at a minimum rate of "process_rate" (Hz) More...
 
void initialize ()
 Turns on the xSens device and configure it for getting orientation data. 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". 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 CGenericSensor * createSensor (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

bool searchPortAndConnect ()
 Search the port where the sensor is located and connect to it. More...
 
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

int m_COMbauds
 This serial port will be attempted to be opened automatically when this class is first used to request data from the device. More...
 
std::string m_com_port
 
uint64_t m_timeStartUI
 
mrpt::system::TTimeStamp m_timeStartTT
 
mrpt::poses::CPose3D m_sensorPose
 
void * m_cmt3_ptr
 
void * m_deviceId_ptr
 
unsigned int m_toutCounter
 Timeout counter (for internal use only) 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

◆ ConstPtr

typedef std::shared_ptr<const CGenericSensor> mrpt::hwdrivers::CGenericSensor::ConstPtr
inherited

Definition at line 124 of file CGenericSensor.h.

◆ Ptr

typedef CGenericSensorPtr mrpt::hwdrivers::CGenericSensor::Ptr
inherited

Definition at line 123 of file CGenericSensor.h.

◆ TListObservations

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

Definition at line 89 of file CGenericSensor.h.

◆ TListObsPair

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

Definition at line 90 of file CGenericSensor.h.

Member Enumeration Documentation

◆ TSensorState

enum mrpt::hwdrivers::CGenericSensor::TSensorState
inherited

The current state of the sensor.

See also
CGenericSensor::getState
Enumerator
ssInitializing 
ssWorking 
ssError 

Definition at line 95 of file CGenericSensor.h.

Constructor & Destructor Documentation

◆ CIMUXSens()

CIMUXSens::CIMUXSens ( )

Constructor.

Definition at line 57 of file CIMUXSens.cpp.

References m_cmt3_ptr, m_deviceId_ptr, mrpt::hwdrivers::CGenericSensor::m_sensorLabel, and THROW_EXCEPTION.

◆ ~CIMUXSens()

CIMUXSens::~CIMUXSens ( )
virtual

Destructor.

Definition at line 81 of file CIMUXSens.cpp.

References cmt3, deviceId, m_cmt3_ptr, and m_deviceId_ptr.

Member Function Documentation

◆ appendObservation()

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

Like appendObservations() but for just one observation.

Definition at line 168 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CIMUXSens_MT4::doProcess(), doProcess(), mrpt::hwdrivers::CSkeletonTracker::doProcess(), mrpt::hwdrivers::CSwissRanger3DCamera::doProcess(), mrpt::hwdrivers::CIMUIntersense::doProcess(), mrpt::hwdrivers::CGyroKVHDSP3000::doProcess(), mrpt::hwdrivers::C2DRangeFinderAbstract::doProcess(), mrpt::hwdrivers::CCANBusReader::doProcess(), mrpt::hwdrivers::CVelodyneScanner::doProcess(), and mrpt::hwdrivers::CGPSInterface::flushParsedMessagesNow().

◆ appendObservations()

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
appendObservation(o);

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().

◆ createSensor()

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:

CGenericSensorPtr sensor = CGenericSensorPtr( CGenericSensor::createSensor("XXX") );
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().

◆ createSensorPtr()

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 201 of file CGenericSensor.h.

◆ doProcess()

void CIMUXSens::doProcess ( )
virtual

This method will be invoked at a minimum rate of "process_rate" (Hz)

Exceptions
Thismethod must throw an exception with a descriptive message if some critical error is found.

Implements mrpt::hwdrivers::CGenericSensor.

Definition at line 94 of file CIMUXSens.cpp.

References mrpt::hwdrivers::CGenericSensor::appendObservation(), cmt3, DEG2RAD, mrpt::obs::IMU_PITCH, mrpt::obs::IMU_PITCH_VEL, mrpt::obs::IMU_ROLL, mrpt::obs::IMU_ROLL_VEL, mrpt::obs::IMU_X_ACC, mrpt::obs::IMU_Y_ACC, mrpt::obs::IMU_YAW, mrpt::obs::IMU_YAW_VEL, mrpt::obs::IMU_Z_ACC, initialize(), CmtVector::m_data, CmtEuler::m_pitch, CmtEuler::m_roll, mrpt::hwdrivers::CGenericSensor::m_sensorLabel, m_sensorPose, mrpt::hwdrivers::CGenericSensor::m_state, m_timeStartTT, m_timeStartUI, m_toutCounter, CmtEuler::m_yaw, mrpt::system::now(), mrpt::system::sleep(), mrpt::hwdrivers::CGenericSensor::ssError, mrpt::hwdrivers::CGenericSensor::ssWorking, THROW_EXCEPTION, XRV_OK, XRV_TIMEOUT, and XRV_TIMEOUTNODATA.

◆ enableVerbose()

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 113 of file CGenericSensor.h.

◆ getExternalImageJPEGQuality()

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

Definition at line 255 of file CGenericSensor.h.

◆ getObservations()

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.

◆ getProcessRate()

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

Definition at line 105 of file CGenericSensor.h.

◆ GetRuntimeClass()

virtual const mrpt::hwdrivers::TSensorClassId* mrpt::hwdrivers::CGenericSensor::GetRuntimeClass ( ) const
pure virtualinherited

◆ getSensorLabel()

std::string mrpt::hwdrivers::CGenericSensor::getSensorLabel ( ) const
inlineinherited

Definition at line 107 of file CGenericSensor.h.

◆ getState()

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

The current state of the sensor.

Definition at line 103 of file CGenericSensor.h.

◆ initialize()

void CIMUXSens::initialize ( void  )
virtual

Turns on the xSens device and configure it for getting orientation data.

Reimplemented from mrpt::hwdrivers::CGenericSensor.

Definition at line 287 of file CIMUXSens.cpp.

References cmt3, CMT_OUTPUTMODE_CALIB, CMT_OUTPUTMODE_ORIENT, CMT_OUTPUTSETTINGS_CALIBMODE_ACCGYR, CMT_OUTPUTSETTINGS_ORIENTMODE_EULER, CMT_OUTPUTSETTINGS_TIMESTAMP_SAMPLECNT, deviceId, mrpt::hwdrivers::CGenericSensor::m_state, m_timeStartTT, m_timeStartUI, mrpt::system::now(), searchPortAndConnect(), mrpt::hwdrivers::CGenericSensor::ssError, mrpt::hwdrivers::CGenericSensor::ssInitializing, mrpt::hwdrivers::CGenericSensor::ssWorking, THROW_EXCEPTION, and XRV_OK.

Referenced by doProcess().

◆ isVerboseEnabled()

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

Definition at line 114 of file CGenericSensor.h.

◆ loadConfig()

void CGenericSensor::loadConfig ( const mrpt::utils::CConfigFileBase &  cfg,
const std::string &  sect 
)
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.

Definition at line 131 of file CGenericSensor.cpp.

References mrpt::hwdrivers::CGenericSensor::loadConfig_sensorSpecific(), mrpt::hwdrivers::CGenericSensor::m_grab_decimation, mrpt::hwdrivers::CGenericSensor::m_grab_decimation_counter, mrpt::hwdrivers::CGenericSensor::m_max_queue_len, mrpt::hwdrivers::CGenericSensor::m_process_rate, mrpt::hwdrivers::CGenericSensor::m_sensorLabel, MRPT_END, MRPT_START, mrpt::utils::CConfigFileBase::read_double(), mrpt::utils::CConfigFileBase::read_int(), and mrpt::utils::CConfigFileBase::read_string().

Referenced by mrpt::hwdrivers::prepareVideoSourceFromPanel(), and mrpt::hwdrivers::prepareVideoSourceFromUserSelection().

◆ loadConfig_sensorSpecific()

void CIMUXSens::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.

Definition at line 363 of file CIMUXSens.cpp.

References DEG2RAD, m_com_port, m_COMbauds, m_sensorPose, mrpt::utils::CConfigFileBase::read_float(), mrpt::utils::CConfigFileBase::read_int(), mrpt::utils::CConfigFileBase::read_string(), and mrpt::poses::CPose3D::setFromValues().

◆ registerClass()

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().

◆ searchPortAndConnect()

bool CIMUXSens::searchPortAndConnect ( )
protected

Search the port where the sensor is located and connect to it.

Definition at line 216 of file CIMUXSens.cpp.

References xsens::List< T >::append(), ASSERT_, cmt3, xsens::cmtScanPorts(), deviceId, xsens::List< T >::length(), CmtPortInfo::m_baudrate, m_com_port, m_COMbauds, CmtPortInfo::m_portName, mrpt::hwdrivers::CGenericSensor::m_state, mrpt::hwdrivers::CGenericSensor::ssError, mrpt::system::os::strcpy(), and XRV_OK.

Referenced by initialize().

◆ setExternalImageFormat()

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 247 of file CGenericSensor.h.

◆ setExternalImageJPEGQuality()

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 252 of file CGenericSensor.h.

References quality.

◆ setPathForExternalImages()

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 238 of file CGenericSensor.h.

References MRPT_UNUSED_PARAM.

◆ setSensorLabel()

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

Definition at line 108 of file CGenericSensor.h.

Member Data Documentation

◆ m_cmt3_ptr

void* mrpt::hwdrivers::CIMUXSens::m_cmt3_ptr
protected

Definition at line 69 of file CIMUXSens.h.

Referenced by CIMUXSens(), and ~CIMUXSens().

◆ m_com_port

std::string mrpt::hwdrivers::CIMUXSens::m_com_port
protected

Definition at line 57 of file CIMUXSens.h.

Referenced by loadConfig_sensorSpecific(), and searchPortAndConnect().

◆ m_COMbauds

int mrpt::hwdrivers::CIMUXSens::m_COMbauds
protected

This serial port will be attempted to be opened automatically when this class is first used to request data from the device.

See also
hwdrivers::CSerialPort

Definition at line 56 of file CIMUXSens.h.

Referenced by loadConfig_sensorSpecific(), and searchPortAndConnect().

◆ m_deviceId_ptr

void* mrpt::hwdrivers::CIMUXSens::m_deviceId_ptr
protected

Definition at line 70 of file CIMUXSens.h.

Referenced by CIMUXSens(), and ~CIMUXSens().

◆ m_external_images_format

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 152 of file CGenericSensor.h.

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

◆ m_external_images_jpeg_quality

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

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

Definition at line 153 of file CGenericSensor.h.

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

◆ m_grab_decimation

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 139 of file CGenericSensor.h.

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

◆ m_grab_decimation_counter

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

Used when "m_grab_decimation" is enabled.

Definition at line 144 of file CGenericSensor.h.

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

◆ m_max_queue_len

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

See CGenericSensor.

Definition at line 138 of file CGenericSensor.h.

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

◆ m_path_for_external_images

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 151 of file CGenericSensor.h.

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

◆ m_process_rate

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

See CGenericSensor.

Definition at line 137 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CGyroKVHDSP3000::initialize(), and mrpt::hwdrivers::CGenericSensor::loadConfig().

◆ m_sensorLabel

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

See CGenericSensor.

Definition at line 140 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CCANBusReader::CCANBusReader(), mrpt::hwdrivers::CGPSInterface::CGPSInterface(), mrpt::hwdrivers::CGyroKVHDSP3000::CGyroKVHDSP3000(), mrpt::hwdrivers::CHokuyoURG::CHokuyoURG(), mrpt::hwdrivers::CIMUIntersense::CIMUIntersense(), 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::CSickLaserUSB::CSickLaserUSB(), mrpt::hwdrivers::CSkeletonTracker::CSkeletonTracker(), mrpt::hwdrivers::CSwissRanger3DCamera::CSwissRanger3DCamera(), mrpt::hwdrivers::CVelodyneScanner::CVelodyneScanner(), mrpt::hwdrivers::CIMUXSens_MT4::doProcess(), doProcess(), mrpt::hwdrivers::CSkeletonTracker::doProcess(), mrpt::hwdrivers::CGyroKVHDSP3000::doProcess(), mrpt::hwdrivers::CIMUIntersense::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().

◆ m_sensorPose

mrpt::poses::CPose3D mrpt::hwdrivers::CIMUXSens::m_sensorPose
protected

Definition at line 61 of file CIMUXSens.h.

Referenced by doProcess(), and loadConfig_sensorSpecific().

◆ m_state

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

Definition at line 146 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CGyroKVHDSP3000::CGyroKVHDSP3000(), mrpt::hwdrivers::CIMUXSens_MT4::doProcess(), doProcess(), mrpt::hwdrivers::CSkeletonTracker::doProcess(), mrpt::hwdrivers::CSwissRanger3DCamera::doProcess(), mrpt::hwdrivers::CIMUIntersense::doProcess(), mrpt::hwdrivers::CGyroKVHDSP3000::doProcess(), mrpt::hwdrivers::C2DRangeFinderAbstract::doProcess(), mrpt::hwdrivers::CGPSInterface::doProcess(), mrpt::hwdrivers::CNationalInstrumentsDAQ::doProcess(), mrpt::hwdrivers::CKinect::doProcess(), mrpt::hwdrivers::CVelodyneScanner::doProcess(), mrpt::hwdrivers::CSickLaserUSB::doProcessSimple(), mrpt::hwdrivers::CCANBusReader::doProcessSimple(), mrpt::hwdrivers::CSickLaserSerial::doProcessSimple(), mrpt::hwdrivers::CHokuyoURG::doProcessSimple(), mrpt::hwdrivers::CGPSInterface::flushParsedMessagesNow(), mrpt::hwdrivers::CVelodyneScanner::getNextObservation(), mrpt::hwdrivers::CIMUXSens_MT4::initialize(), initialize(), mrpt::hwdrivers::CSkeletonTracker::initialize(), mrpt::hwdrivers::CIMUIntersense::initialize(), mrpt::hwdrivers::CGyroKVHDSP3000::initialize(), mrpt::hwdrivers::CVelodyneScanner::initialize(), mrpt::hwdrivers::CNationalInstrumentsDAQ::readFromDAQ(), and searchPortAndConnect().

◆ m_timeStartTT

mrpt::system::TTimeStamp mrpt::hwdrivers::CIMUXSens::m_timeStartTT
protected

Definition at line 59 of file CIMUXSens.h.

Referenced by doProcess(), and initialize().

◆ m_timeStartUI

uint64_t mrpt::hwdrivers::CIMUXSens::m_timeStartUI
protected

Definition at line 58 of file CIMUXSens.h.

Referenced by doProcess(), and initialize().

◆ m_toutCounter

unsigned int mrpt::hwdrivers::CIMUXSens::m_toutCounter
protected

Timeout counter (for internal use only)

Definition at line 71 of file CIMUXSens.h.

Referenced by doProcess().

◆ m_verbose

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

Definition at line 147 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CGenericSensor::CGenericSensor(), mrpt::hwdrivers::CRoboPeakLidar::checkCOMMs(), mrpt::hwdrivers::CNTRIPEmitter::doProcess(), mrpt::hwdrivers::CGPSInterface::doProcess(), mrpt::hwdrivers::CNationalInstrumentsDAQ::grabbing_thread(), mrpt::hwdrivers::CIMUXSens_MT4::initialize(), mrpt::hwdrivers::CHokuyoURG::initialize(), mrpt::hwdrivers::CVelodyneScanner::internal_read_PCAP_packet(), mrpt::hwdrivers::CGPSInterface::JAVAD_sendMessage(), mrpt::hwdrivers::CGPSInterface::legacy_topcon_setup_commands(), mrpt::hwdrivers::CGPSInterface::OnConnectionEstablished(), mrpt::hwdrivers::CGPSInterface::OnConnectionShutdown(), mrpt::hwdrivers::CNationalInstrumentsDAQ::stop(), and mrpt::hwdrivers::CGPSInterface::tryToOpenTheCOM().



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