10 #define CBoardSonars_H
A generic interface for a wide-variety of sensors designed to be used in the application RawLogGrabbe...
std::map< uint16_t, int32_t > m_sonarGains
The individual gains of the sonars, indexed by their I2C addresses [0,15].
bool queryFirmwareVersion(std::string &out_firmwareVersion)
Query the firmware version on the device (can be used to test communications).
Declares a class derived from "CObservation" that encapsules a single range measurement, and associated parameters.
Tries to connect to the USB device (if disconnected).
A copy of the device serial number (to open the USB FTDI chip)
This method will be invoked at a minimum rate of "process_rate" (Hz)
std::vector< int32_t > m_firingOrder
The order in which sonars will be fired, indexed by their I2C addresses [0,15].
This class allows loading and storing values and vectors of different types from a configuration text...
The minimum time between sonar pings (in seconds).
This "software driver" implements the communication protocol for interfacing a Ultrasonic range finde...
A value between 0 and 16, for gains between 40 and 700 (not linear).
GLsizei const GLchar ** string
void loadConfig_sensorSpecific(const mrpt::config::CConfigFileBase &configSource, const std::string &iniSection)
Loads specific configuration for the device from a given source of configuration parameters, for example, an ".ini" file, loading from the section "[iniSection]" (see config::CConfigFileBase and derived classes) See hwdrivers::CBoardSonars for the possible parameters.
This declaration must be inserted in all CGenericSensor classes definition, within the class declarat...
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
A definition of a CStream actually representing a USB connection to a FTDI chip.
Sends the configuration (max range, gain,...) to the USB board.
std::map< uint16_t, mrpt::math::TPose3D > m_sonarPoses
The poses of the sonars: x[m] y[m] z[m] yaw[deg] pitch[deg] roll[deg] Up to 16 devices, but you can put any number of devices (from 1 to 16).
bool programI2CAddress(uint8_t currentAddress, uint8_t newAddress)
Requests a command of "change address" for a given SRF10 device.
The maximum range in meters, used for the internal device timer (value between 4cm and 11m)...
bool getObservation(mrpt::obs::CObservationRange &obs)
Request the latest range measurements.