Detailed Description

A class for interfacing Inertial Measuring Units (IMUs) of the type "XSens MTi" It uses a serial port connection to the device.

The class implements the generic 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 64 of file CIMUXSens.h.

#include <mrpt/hwdrivers/CIMUXSens.h>

Inheritance diagram for mrpt::hwdrivers::CIMUXSens:

[legend]

List of all members.

Public Member Functions

CIMUXSens ()

Constructor.

virtual ~CIMUXSens ()

Destructor.

void doProcess ()

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

Exceptions:

This	method must throw an exception with a descriptive message if some critical error is found.

void initialize ()

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

Protected Member Functions

bool searchPortAndConnect ()

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

void loadConfig_sensorSpecific (const mrpt::utils::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 utils::CConfigFileBase and derived classes) See hwdrivers::CIMUXSens for the possible parameters.

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.

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)

Constructor & Destructor Documentation

mrpt::hwdrivers::CIMUXSens::CIMUXSens ( )

Constructor.

virtual mrpt::hwdrivers::CIMUXSens::~CIMUXSens ( ) [virtual]

Destructor.

Member Function Documentation

void mrpt::hwdrivers::CIMUXSens::doProcess ( ) [virtual]

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

Exceptions:

This	method must throw an exception with a descriptive message if some critical error is found.

Implements mrpt::hwdrivers::CGenericSensor.

void mrpt::hwdrivers::CIMUXSens::initialize ( ) [virtual]

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

Reimplemented from mrpt::hwdrivers::CGenericSensor.

void mrpt::hwdrivers::CIMUXSens::loadConfig_sensorSpecific	(	const mrpt::utils::CConfigFileBase &	configSource,
		const std::string &	iniSection
	)		`[protected, virtual]`

Loads specific configuration for the device from a given source of configuration parameters, for example, an ".ini" file, loading from the section "[iniSection]" (see utils::CConfigFileBase and derived classes) See hwdrivers::CIMUXSens for the possible parameters.

Implements mrpt::hwdrivers::CGenericSensor.

bool mrpt::hwdrivers::CIMUXSens::searchPortAndConnect ( ) [protected]

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