10 #ifndef CPhidgetInterfaceKitProximitySensors_H
11 #define CPhidgetInterfaceKitProximitySensors_H
132 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 generic interface for a wide-variety of sensors designed to be used in the application RawLogGrabbe...
: An interface for the phidget Interface kit board (1018).
virtual ~CPhidgetInterfaceKitProximitySensors()
Destructor.
std::vector< float > m_minRange
The minimum range in meters, this field is automaticaly filled according to the sensor part number re...
std::vector< mrpt::poses::CPose3D > m_sensorPoses
The poses of the 8 sensors x[m] y[m] z[m] yaw[deg] pitch[deg] roll[deg].
void getObservation(mrpt::obs::CObservationRange &outObservation)
This method tries to get a set of range measurements from the IR sensors.
std::vector< SensorType > m_sensorType
The sensor type.
std::vector< bool > m_sensorIsPlugged
An 8 dimension vector of boolean value wich store the presence or abscence of a sensor on the phidget...
int m_serialNumber
The board serial number read in the configuration file.
std::vector< float > m_maxRange
The maximum range in meters, this field is automaticaly filled according to the sensor part number re...
void initialize()
Initialize the sensor according to the parameters previously read in the configuration file.
void doProcess()
This method should be called periodically.
CPhidgetInterfaceKitProximitySensors()
Constructor.
void * m_carteInterfaceKit
void loadConfig_sensorSpecific(const mrpt::utils::CConfigFileBase &configSource, const std::string &iniSection)
See the class documentation at the top for expected parameters.
Declares a class derived from "CObservation" that encapsules a single range measurement,...
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.