00001 /* +---------------------------------------------------------------------------+ 00002 | The Mobile Robot Programming Toolkit (MRPT) C++ library | 00003 | | 00004 | http://mrpt.sourceforge.net/ | 00005 | | 00006 | Copyright (C) 2005-2009 University of Malaga | 00007 | | 00008 | This software was written by the Perception and Robotics | 00009 | research group, University of Malaga (Spain). | 00010 | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> | 00011 | | 00012 | This file is part of the MRPT project. | 00013 | | 00014 | MRPT is free software: you can redistribute it and/or modify | 00015 | it under the terms of the GNU General Public License as published by | 00016 | the Free Software Foundation, either version 3 of the License, or | 00017 | (at your option) any later version. | 00018 | | 00019 | MRPT is distributed in the hope that it will be useful, | 00020 | but WITHOUT ANY WARRANTY; without even the implied warranty of | 00021 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | 00022 | GNU General Public License for more details. | 00023 | | 00024 | You should have received a copy of the GNU General Public License | 00025 | along with MRPT. If not, see <http://www.gnu.org/licenses/>. | 00026 | | 00027 +---------------------------------------------------------------------------+ */ 00028 00029 #ifndef CIMUXSens_H 00030 #define CIMUXSens_H 00031 00032 00033 #include <mrpt/hwdrivers/CGenericSensor.h> 00034 #include <mrpt/hwdrivers/CSerialPort.h> 00035 00036 #include <mrpt/poses/CPose3D.h> 00037 00038 namespace mrpt 00039 { 00040 namespace hwdrivers 00041 { 00042 00064 class HWDLLIMPEXP CIMUXSens : public hwdrivers::CGenericSensor 00065 { 00066 DEFINE_GENERIC_SENSOR(CIMUXSens) 00067 protected: 00068 00072 std::string m_sensorLabel; 00073 int m_COMbauds; 00074 std::string m_com_port; 00075 uint64_t m_timeStartUI; 00076 mrpt::system::TTimeStamp m_timeStartTT; 00077 00078 mrpt::poses::CPose3D m_sensorPose; 00079 00082 bool searchPortAndConnect(); 00083 00084 //CSerialPort m_serial_port; //!< The serial port connection 00085 00086 void * /*xsens::Cmt3 */ m_cmt3_ptr; 00087 void * /*CmtDeviceId */ m_deviceId_ptr; 00088 unsigned int m_toutCounter; 00089 00090 public: 00093 CIMUXSens( ); 00094 00097 virtual ~CIMUXSens(); 00098 00102 void loadConfig( 00103 const mrpt::utils::CConfigFileBase &configSource, 00104 const std::string &iniSection ); 00105 00109 void doProcess(); 00110 00112 void initialize(); 00113 00114 }; // end of class 00115 00116 } // end of namespace 00117 } // end of namespace 00118 00119 #endif 00120 00121
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