CIMUXSens_MT4.h

Go to the documentation of this file.

/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

#pragma once

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

namespace mrpt::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 CIMUXSens_MT4 : public hwdrivers::CGenericSensor
{
    DEFINE_GENERIC_SENSOR(CIMUXSens_MT4)
   protected:
    /** Baudrate, only for COM ports. */
    int m_port_bauds{0};
    /** The USB or COM port name (if blank -> autodetect) */
    std::string m_portname;
    int m_sampleFreq{100};

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

    mrpt::poses::CPose3D m_sensorPose;

    void* /*DeviceClass */ m_dev_ptr{nullptr};
    void* /*XsDeviceId */ m_devid_ptr{nullptr};

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

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

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

    /** 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() override;

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

};  // end of class

}  // namespace mrpt::hwdrivers