78 bool &outThereIsObservation,
80 bool &hardwareError );
113 const std::string &iniSection );
#define DEFINE_GENERIC_SENSOR(class_name)
This declaration must be inserted in all CGenericSensor classes definition, within the class declarat...
A parser of NMEA commands, for connecting to a GPS by a serial port.
void doProcess()
This method will be invoked at a minimum rate of "process_rate" (Hz)
poses::CPoint3D m_sensorPose
void setSerialPortName(const std::string &COM_port)
Set the serial port to use (COM1, ttyUSB0, etc).
CBoardIR(int BUFFER_LENGTH=13)
Constructor.
void loadConfig_sensorSpecific(const mrpt::utils::CConfigFileBase &configSource, const std::string &iniSection)
See the class documentation at the top for expected parameters.
std::map< uint16_t, mrpt::math::TPose3D > m_IRPoses
The poses of the IR: x[m] y[m] z[m] yaw[deg] pitch[deg] roll[deg] Up to 6 devices,...
bool tryToOpenTheCOM()
Returns true if the COM port is already open, or try to open it in other case.
std::string getSerialPortName() const
Get the serial port to use (COM1, ttyUSB0, etc).
bool OnConnectionEstablished()
float m_minRange
The minimum range in meters (10cm).
float m_maxRange
The maximum range in meters (80cm).
void getObservation(bool &outThereIsObservation, mrpt::obs::CObservationRange &outObservation, bool &hardwareError)
This method tries to get a set of range measurements from the IR sensors.
virtual ~CBoardIR()
Destructor.
A generic interface for a wide-variety of sensors designed to be used in the application RawLogGrabbe...
A communications serial port built as an implementation of a utils::CStream.
Declares a class derived from "CObservation" that encapsules a single range measurement,...
A class used to store a 3D point.
This class allows loading and storing values and vectors of different types from a configuration text...
This base class provides a common printf-like method to send debug information to std::cout,...
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.