MRPT
1.9.9
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A class for interfacing KVH DSP 3000 gyroscope with an assynchronous serial communication (product SN : 02-1222-01).
It uses a serial port connection to the device. The class implements the generic sensor class. See also the application "rawlog-grabber" for a ready-to-use application to gather data from the scanner. The generated observation is a CObservationIMU, but only the yaw angular velocity and the absolute yaw position are are set in the vector CObservationIMU::rawMeasurements. The sensor process rate is imposed by hardware at 100Hz. For now, this sensor is only supported on posix system.
In most of the communs applications, this class will be used as :
Definition at line 69 of file CGyroKVHDSP3000.h.
#include <mrpt/hwdrivers/CGyroKVHDSP3000.h>
Public Types | |
enum | TSensorState { ssInitializing = 0, ssWorking, ssError, ssUninitialized } |
The current state of the sensor. More... | |
using | Ptr = std::shared_ptr< CGenericSensor > |
using | TListObservations = std::multimap< mrpt::system::TTimeStamp, mrpt::serialization::CSerializable::Ptr > |
using | TListObsPair = std::pair< mrpt::system::TTimeStamp, mrpt::serialization::CSerializable::Ptr > |
Public Member Functions | |
CGyroKVHDSP3000 () | |
Constructor. More... | |
void | loadConfig_sensorSpecific (const mrpt::config::CConfigFileBase &configSource, const std::string &iniSection) override |
See the class documentation at the top for expected parameters. More... | |
~CGyroKVHDSP3000 () override | |
Destructor. More... | |
void | doProcess () override |
This method will be invoked at a minimum rate of "process_rate" (Hz) More... | |
void | initialize () override |
Turns on the KVH DSP 3000 device and configure it for getting orientation data. More... | |
void | resetIncrementalAngle () |
Send to the sensor the command 'Z' wich reset the integrated angle. More... | |
void | changeMode (GYRO_MODE _newMode) |
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::config::CConfigFileBase &configSource, const std::string §ion) |
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 Ptr | 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::serialization::CSerializable::Ptr > &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::serialization::CSerializable::Ptr &obj) |
Like appendObservations() but for just one observation. More... | |
Protected Attributes | |
int | m_COMbauds {38400} |
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 |
mrpt::poses::CPose3D | m_sensorPose |
std::unique_ptr< mrpt::comms::CSerialPort > | m_serialPort |
Search the port where the sensor is located and connect to it. More... | |
GYRO_MODE | m_mode {RATE} |
bool | m_firstInteration {true} |
mrpt::obs::CObservationIMU::Ptr | m_observationGyro |
size_t | m_grab_decimation_counter {0} |
Used when "m_grab_decimation" is enabled. More... | |
TSensorState | m_state {ssInitializing} |
bool | m_verbose {false} |
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 {95} |
For JPEG images, the quality (default=95%). More... | |
Common settings to any sensor, loaded in "loadConfig" | |
double | m_process_rate {0} |
See CGenericSensor. More... | |
size_t | m_max_queue_len {200} |
See CGenericSensor. More... | |
size_t | m_grab_decimation {0} |
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... | |
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inherited |
Definition at line 73 of file CGenericSensor.h.
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inherited |
Definition at line 77 of file CGenericSensor.h.
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inherited |
Definition at line 79 of file CGenericSensor.h.
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inherited |
The current state of the sensor.
Enumerator | |
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ssInitializing | |
ssWorking | |
ssError | |
ssUninitialized |
Definition at line 84 of file CGenericSensor.h.
CGyroKVHDSP3000::CGyroKVHDSP3000 | ( | ) |
Constructor.
Definition at line 28 of file CGyroKVHDSP3000.cpp.
References mrpt::hwdrivers::CGenericSensor::m_sensorLabel, mrpt::hwdrivers::CGenericSensor::m_state, and mrpt::hwdrivers::CGenericSensor::ssInitializing.
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override |
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inlineprotectedinherited |
Like appendObservations() but for just one observation.
Definition at line 180 of file CGenericSensor.h.
References mrpt::hwdrivers::CGenericSensor::appendObservations().
Referenced by mrpt::hwdrivers::CIMUXSens_MT4::doProcess(), mrpt::hwdrivers::CIMUXSens::doProcess(), doProcess(), mrpt::hwdrivers::CSkeletonTracker::doProcess(), mrpt::hwdrivers::CSwissRanger3DCamera::doProcess(), mrpt::hwdrivers::C2DRangeFinderAbstract::doProcess(), mrpt::hwdrivers::CCANBusReader::doProcess(), mrpt::hwdrivers::CVelodyneScanner::doProcess(), and mrpt::hwdrivers::CGPSInterface::flushParsedMessagesNow().
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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:
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 48 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::CGenericSensor::appendObservation(), mrpt::hwdrivers::CNationalInstrumentsDAQ::doProcess(), and mrpt::hwdrivers::CKinect::doProcess().
void CGyroKVHDSP3000::changeMode | ( | GYRO_MODE | _newMode | ) |
Definition at line 142 of file CGyroKVHDSP3000.cpp.
References mrpt::hwdrivers::INCREMENTAL_ANGLE, mrpt::hwdrivers::INTEGRATED_ANGLE, m_mode, m_serialPort, mrpt::hwdrivers::RATE, and THROW_EXCEPTION.
Referenced by initialize().
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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:
Definition at line 97 of file CGenericSensor.cpp.
References mrpt::hwdrivers::CGenericSensor::get_registered_sensor_classes().
Referenced by mrpt::hwdrivers::CGenericSensor::createSensorPtr().
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inlinestaticinherited |
Just like createSensor, but returning a smart pointer to the newly created sensor object.
Definition at line 210 of file CGenericSensor.h.
References mrpt::hwdrivers::CGenericSensor::createSensor().
Referenced by mrpt::apps::RawlogGrabberApp::SensorThread().
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overridevirtual |
This method will be invoked at a minimum rate of "process_rate" (Hz)
This | method must throw an exception with a descriptive message if some critical error is found. |
Implements mrpt::hwdrivers::CGenericSensor.
Definition at line 40 of file CGyroKVHDSP3000.cpp.
References mrpt::hwdrivers::CGenericSensor::appendObservation(), mrpt::DEG2RAD(), mrpt::obs::IMU_YAW, mrpt::obs::IMU_YAW_VEL, mrpt::hwdrivers::INCREMENTAL_ANGLE, initialize(), mrpt::hwdrivers::INTEGRATED_ANGLE, m_firstInteration, m_mode, mrpt::hwdrivers::CGenericSensor::m_sensorLabel, m_sensorPose, m_serialPort, mrpt::hwdrivers::CGenericSensor::m_state, mrpt::system::now(), mrpt::hwdrivers::RATE, mrpt::hwdrivers::CGenericSensor::ssError, and mrpt::system::tokenize().
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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 106 of file CGenericSensor.h.
References mrpt::hwdrivers::CGenericSensor::m_verbose.
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inlineinherited |
Definition at line 279 of file CGenericSensor.h.
References mrpt::hwdrivers::CGenericSensor::m_external_images_jpeg_quality.
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inherited |
Returns a list of enqueued objects, emptying it (thread-safe).
The objects must be freed by the invoker.
Definition at line 85 of file CGenericSensor.cpp.
References mrpt::hwdrivers::CGenericSensor::m_csObjList, and mrpt::hwdrivers::CGenericSensor::m_objList.
Referenced by TEST().
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inlineinherited |
Definition at line 94 of file CGenericSensor.h.
References mrpt::hwdrivers::CGenericSensor::m_process_rate.
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pure virtualinherited |
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inlineinherited |
Definition at line 95 of file CGenericSensor.h.
References mrpt::hwdrivers::CGenericSensor::m_sensorLabel.
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inlineinherited |
The current state of the sensor.
Definition at line 93 of file CGenericSensor.h.
References mrpt::hwdrivers::CGenericSensor::m_state.
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overridevirtual |
Turns on the KVH DSP 3000 device and configure it for getting orientation data.
you must have called loadConfig_sensorSpecific before calling this function.
Reimplemented from mrpt::hwdrivers::CGenericSensor.
Definition at line 88 of file CGyroKVHDSP3000.cpp.
References changeMode(), m_com_port, m_COMbauds, m_mode, mrpt::hwdrivers::CGenericSensor::m_process_rate, m_serialPort, mrpt::hwdrivers::CGenericSensor::m_state, resetIncrementalAngle(), mrpt::hwdrivers::CGenericSensor::ssWorking, and THROW_EXCEPTION.
Referenced by doProcess().
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inlineinherited |
Definition at line 107 of file CGenericSensor.h.
References mrpt::hwdrivers::CGenericSensor::m_verbose.
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inherited |
Loads the generic settings common to any sensor (See CGenericSensor), then call to "loadConfig_sensorSpecific".
This | method throws an exception with a descriptive message if some critical parameter is missing or has an invalid value. |
Definition at line 126 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::config::CConfigFileBase::read_double(), mrpt::config::CConfigFileBase::read_int(), mrpt::config::CConfigFileBase::read_string(), and sect.
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overridevirtual |
See the class documentation at the top for expected parameters.
Implements mrpt::hwdrivers::CGenericSensor.
Definition at line 109 of file CGyroKVHDSP3000.cpp.
References mrpt::DEG2RAD(), mrpt::hwdrivers::INCREMENTAL_ANGLE, mrpt::hwdrivers::INTEGRATED_ANGLE, m_com_port, m_mode, m_sensorPose, mrpt::hwdrivers::RATE, mrpt::config::CConfigFileBase::read_float(), mrpt::config::CConfigFileBase::read_string(), and mrpt::poses::CPose3D::setFromValues().
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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 115 of file CGenericSensor.cpp.
References mrpt::hwdrivers::TSensorClassId::className, and mrpt::hwdrivers::CGenericSensor::get_registered_sensor_classes().
void CGyroKVHDSP3000::resetIncrementalAngle | ( | ) |
Send to the sensor the command 'Z' wich reset the integrated angle.
(in both rate mode and incremental, this function has no effect)
Definition at line 168 of file CGyroKVHDSP3000.cpp.
References m_mode, m_serialPort, mrpt::hwdrivers::RATE, and THROW_EXCEPTION.
Referenced by initialize().
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inlineinherited |
Set the extension ("jpg","gif","png",...) that determines the format of images saved externally The default is "jpg".
Definition at line 268 of file CGenericSensor.h.
References mrpt::hwdrivers::CGenericSensor::m_external_images_format.
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inlineinherited |
The quality of JPEG compression, when external images is enabled and the format is "jpg".
Definition at line 275 of file CGenericSensor.h.
References mrpt::hwdrivers::CGenericSensor::m_external_images_jpeg_quality.
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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.
std::exception | If 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 257 of file CGenericSensor.h.
References MRPT_UNUSED_PARAM.
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inlineinherited |
Definition at line 96 of file CGenericSensor.h.
References mrpt::hwdrivers::CGenericSensor::m_sensorLabel.
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protected |
Definition at line 78 of file CGyroKVHDSP3000.h.
Referenced by initialize(), and loadConfig_sensorSpecific().
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This serial port will be attempted to be opened automatically when this class is first used to request data from the device.
Definition at line 77 of file CGyroKVHDSP3000.h.
Referenced by initialize().
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protectedinherited |
The extension ("jpg","gif","png",...) that determines the format of images saved externally.
Definition at line 158 of file CGenericSensor.h.
Referenced by mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), mrpt::hwdrivers::CSwissRanger3DCamera::loadConfig_sensorSpecific(), and mrpt::hwdrivers::CGenericSensor::setExternalImageFormat().
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protectedinherited |
For JPEG images, the quality (default=95%).
Definition at line 160 of file CGenericSensor.h.
Referenced by mrpt::hwdrivers::CGenericSensor::getExternalImageJPEGQuality(), mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), mrpt::hwdrivers::CSwissRanger3DCamera::loadConfig_sensorSpecific(), and mrpt::hwdrivers::CGenericSensor::setExternalImageJPEGQuality().
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protected |
Definition at line 89 of file CGyroKVHDSP3000.h.
Referenced by doProcess().
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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().
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protectedinherited |
Used when "m_grab_decimation" is enabled.
Definition at line 146 of file CGenericSensor.h.
Referenced by mrpt::hwdrivers::CGenericSensor::appendObservations(), and mrpt::hwdrivers::CGenericSensor::loadConfig().
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protectedinherited |
See CGenericSensor.
Definition at line 136 of file CGenericSensor.h.
Referenced by mrpt::hwdrivers::CGenericSensor::loadConfig().
Definition at line 88 of file CGyroKVHDSP3000.h.
Referenced by changeMode(), doProcess(), initialize(), loadConfig_sensorSpecific(), and resetIncrementalAngle().
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Definition at line 91 of file CGyroKVHDSP3000.h.
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The path where to save off-rawlog images: empty means save images embedded in the rawlog.
Definition at line 155 of file CGenericSensor.h.
Referenced by mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), and mrpt::hwdrivers::CSwissRanger3DCamera::setPathForExternalImages().
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protectedinherited |
See CGenericSensor.
Definition at line 134 of file CGenericSensor.h.
Referenced by mrpt::hwdrivers::CGenericSensor::getProcessRate(), initialize(), and mrpt::hwdrivers::CGenericSensor::loadConfig().
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protectedinherited |
See CGenericSensor.
Definition at line 141 of file CGenericSensor.h.
Referenced by mrpt::hwdrivers::CCANBusReader::CCANBusReader(), mrpt::hwdrivers::CGPSInterface::CGPSInterface(), CGyroKVHDSP3000(), mrpt::hwdrivers::CHokuyoURG::CHokuyoURG(), 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::CSickLaserUSB::CSickLaserUSB(), mrpt::hwdrivers::CSkeletonTracker::CSkeletonTracker(), mrpt::hwdrivers::CSwissRanger3DCamera::CSwissRanger3DCamera(), mrpt::hwdrivers::CVelodyneScanner::CVelodyneScanner(), mrpt::hwdrivers::CIMUXSens_MT4::doProcess(), mrpt::hwdrivers::CIMUXSens::doProcess(), doProcess(), mrpt::hwdrivers::CSkeletonTracker::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::CGenericSensor::getSensorLabel(), mrpt::hwdrivers::CNationalInstrumentsDAQ::grabbing_thread(), mrpt::hwdrivers::CGenericSensor::loadConfig(), mrpt::hwdrivers::CSkeletonTracker::processPreview(), mrpt::hwdrivers::C2DRangeFinderAbstract::processPreview(), mrpt::hwdrivers::CSkeletonTracker::processPreviewNone(), and mrpt::hwdrivers::CGenericSensor::setSensorLabel().
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Definition at line 80 of file CGyroKVHDSP3000.h.
Referenced by doProcess(), and loadConfig_sensorSpecific().
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Search the port where the sensor is located and connect to it.
The serial port connection
Definition at line 87 of file CGyroKVHDSP3000.h.
Referenced by changeMode(), doProcess(), initialize(), resetIncrementalAngle(), and ~CGyroKVHDSP3000().
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protectedinherited |
Definition at line 148 of file CGenericSensor.h.
Referenced by CGyroKVHDSP3000(), mrpt::hwdrivers::CIMUXSens_MT4::doProcess(), mrpt::hwdrivers::CIMUXSens::doProcess(), doProcess(), mrpt::hwdrivers::CSkeletonTracker::doProcess(), mrpt::hwdrivers::CSwissRanger3DCamera::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::CGenericSensor::getState(), mrpt::hwdrivers::CIMUXSens_MT4::initialize(), mrpt::hwdrivers::CIMUXSens::initialize(), initialize(), mrpt::hwdrivers::CSkeletonTracker::initialize(), mrpt::hwdrivers::CVelodyneScanner::initialize(), mrpt::hwdrivers::CNationalInstrumentsDAQ::readFromDAQ(), and mrpt::hwdrivers::CIMUXSens::searchPortAndConnect().
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protectedinherited |
Definition at line 149 of file CGenericSensor.h.
Referenced by mrpt::hwdrivers::CGenericSensor::CGenericSensor(), mrpt::hwdrivers::CRoboPeakLidar::checkCOMMs(), mrpt::hwdrivers::CNTRIPEmitter::doProcess(), mrpt::hwdrivers::CGPSInterface::doProcess(), mrpt::hwdrivers::CGenericSensor::enableVerbose(), mrpt::hwdrivers::CNationalInstrumentsDAQ::grabbing_thread(), mrpt::hwdrivers::CIMUXSens_MT4::initialize(), mrpt::hwdrivers::CHokuyoURG::initialize(), mrpt::hwdrivers::CVelodyneScanner::internal_read_PCAP_packet(), mrpt::hwdrivers::CGenericSensor::isVerboseEnabled(), mrpt::hwdrivers::CGPSInterface::JAVAD_sendMessage(), mrpt::hwdrivers::CGPSInterface::legacy_topcon_setup_commands(), mrpt::hwdrivers::CSickLaserSerial::LMS_setupBaudrate(), mrpt::hwdrivers::CSickLaserSerial::LMS_setupSerialComms(), mrpt::hwdrivers::CSickLaserSerial::LMS_waitIncomingFrame(), mrpt::hwdrivers::CGPSInterface::OnConnectionEstablished(), mrpt::hwdrivers::CGPSInterface::OnConnectionShutdown(), mrpt::hwdrivers::CSickLaserSerial::SendCommandToSICK(), mrpt::hwdrivers::CNationalInstrumentsDAQ::stop(), and mrpt::hwdrivers::CGPSInterface::tryToOpenTheCOM().
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