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CObservationCANBusJ1939.h
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1 /* +------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | http://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file |
6  | See: http://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See details in http://www.mrpt.org/License |
8  +------------------------------------------------------------------------+ */
9 #ifndef CObservationCANBusJ1939_H
10 #define CObservationCANBusJ1939_H
11 
13 #include <mrpt/obs/CObservation.h>
14 
15 namespace mrpt
16 {
17 namespace obs
18 {
19 /** This class stores a message from a CAN BUS with the protocol J1939
20  *
21  * \sa CObservation
22  * \ingroup mrpt_obs_grp
23  */
25 {
27 
28  public:
29  /** Constructor.
30  */
32  : m_pgn(0),
33  m_src_address(0),
34  m_priority(0),
35  m_pdu_format(0),
36  m_pdu_spec(0),
37  m_data_length(0)
38  {
39  }
40 
41  /** Destructor
42  */
44  /** The Parameter Group Number within this frame */
46 
47  /** The address of the source node within this frame */
49 
50  /** The priority */
52 
53  /** PDU Format */
55 
56  /** PDU Specific */
58 
59  /** Data length */
61 
62  /** The data within this frame (0-8 bytes) */
63  std::vector<uint8_t> m_data;
64 
65  /** The ASCII frame */
66  std::vector<char> m_raw_frame;
67 
68  /** Not used */
69  void getSensorPose(mrpt::poses::CPose3D&) const override {}
70  void setSensorPose(const mrpt::poses::CPose3D&) override {}
71  // See base class docs
72  void getDescriptionAsText(std::ostream& o) const override;
73 
74 }; // End of class def.
75 
76 } // End of namespace
77 } // End of namespace
78 
79 #endif
unsigned __int16 uint16_t
Definition: rptypes.h:44
This class stores a message from a CAN BUS with the protocol J1939.
unsigned char uint8_t
Definition: rptypes.h:41
void getSensorPose(mrpt::poses::CPose3D &) const override
Not used.
void setSensorPose(const mrpt::poses::CPose3D &) override
A general method to change the sensor pose on the robot.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
Definition: CPose3D.h:88
Declares a class that represents any robot&#39;s observation.
Definition: CObservation.h:43
std::vector< char > m_raw_frame
The ASCII frame.
uint16_t m_pgn
The Parameter Group Number within this frame.
uint8_t m_src_address
The address of the source node within this frame.
void getDescriptionAsText(std::ostream &o) const override
Build a detailed, multi-line textual description of the observation contents and dump it to the outpu...
std::vector< uint8_t > m_data
The data within this frame (0-8 bytes)



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