This "software driver" implements the communication protocol for interfacing a Robotic Head Board through a custom USB RS-422 interface board.
In this class the "bind" is ignored since it is designed for USB connections only, thus it internally generate the required object for simplicity of use. The default serial number is "OREJA001"
Warning: Avoid defining an object of this class in a global scope if you want to catch all potential exceptions during the constructors (like USB interface DLL not found, etc...)
Definition at line 46 of file CRoboticHeadInterface.h.
#include <mrpt/hwdrivers/CRoboticHeadInterface.h>
Public Member Functions | |
CRoboticHeadInterface () | |
Constructor. More... | |
~CRoboticHeadInterface () | |
Destructor. More... | |
void | setDeviceSerialNumber (const std::string &deviceSerialNumber) |
Changes the serial number of the device to open. More... | |
void | GetGain (int &_gain, int &channel) |
Read the gain for the amplifier of the ear "channel", where channel is 0, 1 or 2. More... | |
bool | SetGain (int &new_gain, int &channel) |
Set the gain for the amplifier each ear. More... | |
void | GetSoundLocation (int &ang) |
This function return the angle where last sound where detected. More... | |
void | Get3SoundBuffer (mrpt::math::CMatrixTemplate< int > &buf) |
Debug only!!! This function return the last 500 acquired samples for each sound channel. More... | |
void | SetHeadPose (int &yaw, int &pitch) |
Move the head in: More... | |
Static Public Member Functions | |
static void | printf_debug (const char *frmt,...) |
Sends a formated text to "debugOut" if not NULL, or to cout otherwise. More... | |
Protected Member Functions | |
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::CSonarSRF10 for the possible parameters. More... | |
Private Member Functions | |
bool | checkControllerIsConnected () |
Private Attributes | |
CInterfaceFTDIMessages | m_usbConnection |
utils::CMessage | msg |
std::string | m_serialNumber |
std::vector< int32_t > | gain |
int | head_yaw |
int | head_pitch |
mrpt::hwdrivers::CRoboticHeadInterface::CRoboticHeadInterface | ( | ) |
Constructor.
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inline |
Destructor.
Definition at line 72 of file CRoboticHeadInterface.h.
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private |
void mrpt::hwdrivers::CRoboticHeadInterface::Get3SoundBuffer | ( | mrpt::math::CMatrixTemplate< int > & | buf | ) |
Debug only!!! This function return the last 500 acquired samples for each sound channel.
void mrpt::hwdrivers::CRoboticHeadInterface::GetGain | ( | int & | _gain, |
int & | channel | ||
) |
Read the gain for the amplifier of the ear "channel", where channel is 0, 1 or 2.
void mrpt::hwdrivers::CRoboticHeadInterface::GetSoundLocation | ( | int & | ang | ) |
This function return the angle where last sound where detected.
This angle is related to the robot pose, NOT head pose.
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protected |
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::CSonarSRF10 for the possible parameters.
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staticinherited |
Sends a formated text to "debugOut" if not NULL, or to cout otherwise.
Referenced by mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute().
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inline |
Changes the serial number of the device to open.
Definition at line 76 of file CRoboticHeadInterface.h.
bool mrpt::hwdrivers::CRoboticHeadInterface::SetGain | ( | int & | new_gain, |
int & | channel | ||
) |
Set the gain for the amplifier each ear.
The value range is [0x00(min) .. 0x7F(max)]. The value 0x80 set the resistor in high impedance state, DON'T USE IT!!!
void mrpt::hwdrivers::CRoboticHeadInterface::SetHeadPose | ( | int & | yaw, |
int & | pitch | ||
) |
Move the head in:
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private |
Definition at line 52 of file CRoboticHeadInterface.h.
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private |
Definition at line 53 of file CRoboticHeadInterface.h.
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private |
Definition at line 53 of file CRoboticHeadInterface.h.
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private |
Definition at line 51 of file CRoboticHeadInterface.h.
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private |
Definition at line 49 of file CRoboticHeadInterface.h.
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private |
Definition at line 50 of file CRoboticHeadInterface.h.
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