Detailed Description

Store raw data from a Data Acquisition (DAQ) device, such that input or output analog and digital channels, counters from encoders, etc.

at one sampling instant. All analog values are assumed to be volts. On timing:

CObservation::timestamp corresponds to the time of the first samples in each of the vectors.
CObservationRawDAQ::sample_rate is the sampling rate, in samples per second per channel, as stored by the source driver.

See also: CObservation

Definition at line 30 of file CObservationRawDAQ.h.

#include <mrpt/slam/CObservationRawDAQ.h>

Inheritance diagram for mrpt::slam::CObservationRawDAQ:

[legend]

Public Member Functions
void *	operator new (size_t size)

void *	operator new[] (size_t size)

void	operator delete (void *ptr) throw ()

void	operator delete[] (void *ptr) throw ()

void	operator delete (void memory, void ptr) throw ()

void *	operator new (size_t size, const std::nothrow_t &) throw ()

void	operator delete (void *ptr, const std::nothrow_t &) throw ()

	CObservationRawDAQ ()
	Constructor. More...

virtual	~CObservationRawDAQ ()
	Destructor. More...

void	getSensorPose (CPose3D &) const
	Not used in this class. More...

void	setSensorPose (const CPose3D &)
	Not used in this class. More...

template<class METRICMAP >
bool	insertObservationInto (METRICMAP theMap, const CPose3D robotPose=NULL) const
	This method is equivalent to: More...

void	getSensorPose (mrpt::math::TPose3D &out_sensorPose) const
	A general method to retrieve the sensor pose on the robot. More...

void	setSensorPose (const mrpt::math::TPose3D &newSensorPose)
	A general method to change the sensor pose on the robot. More...

mrpt::utils::CObjectPtr	duplicateGetSmartPtr () const
	Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). More...

CObject *	clone () const
	Cloning interface for smart pointers. More...

Delayed-load manual control methods.
virtual void	load () const
	Makes sure all images and other fields which may be externally stored are loaded in memory. More...

virtual void	unload ()
	Unload all images, for the case they being delayed-load images stored in external files (othewise, has no effect). More...

Static Public Member Functions
static void *	operator new (size_t size, void *ptr)

Public Attributes
std::vector< uint8_t >	AIN_8bits

std::vector< uint16_t >	AIN_16bits
	Readings from 8-bit analog input (ADCs) channels (vector length=channel count) in ADC units. More...

std::vector< uint32_t >	AIN_32bits
	Readings from 16-bit analog input (ADCs) channels (vector length=channel count) in ADC units. More...

std::vector< float >	AIN_float
	Readings from 32-bit analog input (ADCs) channels (vector length=channel count) in ADC units. More...

std::vector< double >	AIN_double
	Readings from analog input (ADCs) channels (vector length=channel count) in Volts. More...

uint16_t	AIN_channel_count
	Readings from analog input (ADCs) channels (vector length=channel count) in Volts. More...

bool	AIN_interleaved
	Whether the channels are interleaved (A0 A1 A2 A0 A1 A2...) or not (A0 A0 A0 A1 A1 A1 A2 A2 A2...) in the AIN_* vectors. More...

std::vector< uint8_t >	AOUT_8bits

std::vector< uint16_t >	AOUT_16bits
	Present output values for 8-bit analog output (DACs) channels (vector length=channel count) in DAC units. More...

std::vector< float >	AOUT_float
	Present output values for 16-bit analog output (DACs) channels (vector length=channel count) in DAC units. More...

std::vector< double >	AOUT_double
	Present output values for 16-bit analog output (DACs) channels (vector length=channel count) in volts. More...

std::vector< uint8_t >	DIN
	Present output values for 16-bit analog output (DACs) channels (vector length=channel count) in volts. More...

std::vector< uint8_t >	DOUT
	Readings from digital inputs; each byte stores 8 digital inputs, or 8-bit port. More...

std::vector< uint32_t >	CNTRIN_32bits
	Present digital output values; each byte stores 8 digital inputs, or 8-bit port. More...

std::vector< double >	CNTRIN_double
	Readings from ticks counters, such as quadrature encoders. More...

double	sample_rate
	Readings from ticks counters, such as quadrature encoders. More...

Data common to any observation
mrpt::system::TTimeStamp	timestamp
	The associated time-stamp. More...

std::string	sensorLabel
	An arbitrary label that can be used to identify the sensor. More...

Static Public Attributes
static const mrpt::utils::TRuntimeClassId	classCObject

RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCObservation

RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCSerializable

Protected Member Functions
void	swap (CObservation &o)
	Swap with another observation, ONLY the data defined here in the base class CObservation. It's protected since it'll be only called from child classes that should know what else to swap appart from these common data. More...

CSerializable virtual methods
void	writeToStream (mrpt::utils::CStream &out, int *getVersion) const
	Introduces a pure virtual method responsible for writing to a CStream. More...

void	readFromStream (mrpt::utils::CStream &in, int version)
	Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. More...

RTTI stuff
typedef CObservationRawDAQPtr	SmartPtr

static mrpt::utils::CLASSINIT	_init_CObservationRawDAQ

static mrpt::utils::TRuntimeClassId	classCObservationRawDAQ

static const mrpt::utils::TRuntimeClassId *	classinfo

static const mrpt::utils::TRuntimeClassId *	_GetBaseClass ()

virtual const mrpt::utils::TRuntimeClassId *	GetRuntimeClass () const
	Returns information about the class of an object in runtime. More...

virtual mrpt::utils::CObject *	duplicate () const
	Returns a copy of the object, indepently of its class. More...

static mrpt::utils::CObject *	CreateObject ()

static CObservationRawDAQPtr	Create ()

Member Typedef Documentation

typedef CObservationRawDAQPtr mrpt::slam::CObservationRawDAQ::SmartPtr

A typedef for the associated smart pointer

Definition at line 33 of file CObservationRawDAQ.h.

Constructor & Destructor Documentation

mrpt::slam::CObservationRawDAQ::CObservationRawDAQ ( )

inline

Constructor.

Definition at line 36 of file CObservationRawDAQ.h.

virtual mrpt::slam::CObservationRawDAQ::~CObservationRawDAQ ( )

inlinevirtual

Destructor.

Definition at line 38 of file CObservationRawDAQ.h.

Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::slam::CObservationRawDAQ::_GetBaseClass ( )

staticprotected

CObject* mrpt::utils::CObject::clone ( ) const

inlineinherited

Cloning interface for smart pointers.

Definition at line 139 of file CObject.h.

static CObservationRawDAQPtr mrpt::slam::CObservationRawDAQ::Create ( )

static

static mrpt::utils::CObject* mrpt::slam::CObservationRawDAQ::CreateObject ( )

static

virtual mrpt::utils::CObject* mrpt::slam::CObservationRawDAQ::duplicate ( ) const

virtual

Returns a copy of the object, indepently of its class.

Implements mrpt::utils::CObject.

mrpt::utils::CObjectPtr mrpt::utils::CObject::duplicateGetSmartPtr ( ) const

inlineinherited

Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer).

Definition at line 136 of file CObject.h.

virtual const mrpt::utils::TRuntimeClassId* mrpt::slam::CObservationRawDAQ::GetRuntimeClass ( ) const

virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::slam::CObservation.

void mrpt::slam::CObservationRawDAQ::getSensorPose ( CPose3D & ) const

inlinevirtual

Not used in this class.

Implements mrpt::slam::CObservation.

Definition at line 64 of file CObservationRawDAQ.h.

void mrpt::slam::CObservation::getSensorPose ( mrpt::math::TPose3D & out_sensorPose ) const

inherited

A general method to retrieve the sensor pose on the robot.

Note that most sensors will return a full (6D) CPose3D, but see the derived classes for more details or special cases.

See also: setSensorPose

template<class METRICMAP >

bool mrpt::slam::CObservation::insertObservationInto	(	METRICMAP *	theMap,
		const CPose3D *	robotPose = `NULL`
	)		const

inlineinherited

This method is equivalent to:

map->insertObservation(this, robotPose)

Parameters

theMap	The map where this observation is to be inserted: the map will be updated.
robotPose	The pose of the robot base for this observation, relative to the target metric map. Set to NULL (default) to use (0,0,0deg)

Returns: Returns true if the map has been updated, or false if this observations has nothing to do with a metric map (for example, a sound observation).

See also: CMetricMap, CMetricMap::insertObservation

Definition at line 93 of file CObservation.h.

virtual void mrpt::slam::CObservation::load ( ) const

inlinevirtualinherited

Makes sure all images and other fields which may be externally stored are loaded in memory.

Note that for all CImages, calling load() is not required since the images will be automatically loaded upon first access, so load() shouldn't be needed to be called in normal cases by the user. If all the data were alredy loaded or this object has no externally stored data fields, calling this method has no effects.

See also: unload

Reimplemented in mrpt::slam::CObservation3DRangeScan.

Definition at line 130 of file CObservation.h.

void mrpt::slam::CObservationRawDAQ::operator delete	(	void *	memory,
		void *	ptr
	)
throw	(
	)

inline

Definition at line 33 of file CObservationRawDAQ.h.

void mrpt::slam::CObservationRawDAQ::operator delete	(	void *	ptr	)
throw	(
	)

inline

Definition at line 33 of file CObservationRawDAQ.h.

void mrpt::slam::CObservationRawDAQ::operator delete	(	void *	ptr,
		const std::nothrow_t &
	)
throw	(
	)

inline

Definition at line 33 of file CObservationRawDAQ.h.

void mrpt::slam::CObservationRawDAQ::operator delete[]	(	void *	ptr	)
throw	(
	)

inline

Definition at line 33 of file CObservationRawDAQ.h.

void* mrpt::slam::CObservationRawDAQ::operator new	(	size_t	size,
		const std::nothrow_t &
	)
throw	(
	)

inline

Definition at line 33 of file CObservationRawDAQ.h.

static void* mrpt::slam::CObservationRawDAQ::operator new	(	size_t	size,
		void *	ptr
	)

inlinestatic

Definition at line 33 of file CObservationRawDAQ.h.

void* mrpt::slam::CObservationRawDAQ::operator new ( size_t size )

inline

Definition at line 33 of file CObservationRawDAQ.h.

void* mrpt::slam::CObservationRawDAQ::operator new[] ( size_t size )

inline

Definition at line 33 of file CObservationRawDAQ.h.

void mrpt::slam::CObservationRawDAQ::readFromStream	(	mrpt::utils::CStream &	in,
		int	version
	)

protectedvirtual

Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.

Parameters

in	The input binary stream where the object data must read from.
version	The version of the object stored in the stream: use this version number in your code to know how to read the incoming data.

Exceptions

std::exception On any error, see CStream::ReadBuffer

See also: CStream

Implements mrpt::utils::CSerializable.

void mrpt::slam::CObservationRawDAQ::setSensorPose ( const CPose3D & )

inlinevirtual

Not used in this class.

Implements mrpt::slam::CObservation.

Definition at line 66 of file CObservationRawDAQ.h.

void mrpt::slam::CObservation::setSensorPose ( const mrpt::math::TPose3D & newSensorPose )

inherited

A general method to change the sensor pose on the robot.

Note that most sensors will use the full (6D) CPose3D, but see the derived classes for more details or special cases.

See also: getSensorPose

void mrpt::slam::CObservation::swap ( CObservation & o )

protectedinherited

Swap with another observation, ONLY the data defined here in the base class CObservation. It's protected since it'll be only called from child classes that should know what else to swap appart from these common data.

virtual void mrpt::slam::CObservation::unload ( )

inlinevirtualinherited

Unload all images, for the case they being delayed-load images stored in external files (othewise, has no effect).

See also: load

Reimplemented in mrpt::slam::CObservation3DRangeScan.

Definition at line 134 of file CObservation.h.

void mrpt::slam::CObservationRawDAQ::writeToStream	(	mrpt::utils::CStream &	out,
		int *	getVersion
	)		const

protectedvirtual

Introduces a pure virtual method responsible for writing to a CStream.

This can not be used directly be users, instead use "stream << object;" for writing it to a stream.

Parameters

out	The output binary stream where object must be dumped.
getVersion	If NULL, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data.

Exceptions

std::exception On any error, see CStream::WriteBuffer

See also: CStream

Implements mrpt::utils::CSerializable.

Member Data Documentation

mrpt::utils::CLASSINIT mrpt::slam::CObservationRawDAQ::_init_CObservationRawDAQ

staticprotected

Definition at line 33 of file CObservationRawDAQ.h.

std::vector<uint16_t> mrpt::slam::CObservationRawDAQ::AIN_16bits

Readings from 8-bit analog input (ADCs) channels (vector length=channel count) in ADC units.

Definition at line 42 of file CObservationRawDAQ.h.

std::vector<uint32_t> mrpt::slam::CObservationRawDAQ::AIN_32bits

Readings from 16-bit analog input (ADCs) channels (vector length=channel count) in ADC units.

Definition at line 43 of file CObservationRawDAQ.h.

std::vector<uint8_t> mrpt::slam::CObservationRawDAQ::AIN_8bits

Definition at line 41 of file CObservationRawDAQ.h.

uint16_t mrpt::slam::CObservationRawDAQ::AIN_channel_count

Readings from analog input (ADCs) channels (vector length=channel count) in Volts.

How many different ADC channels are present in the AIN_* vectors.

Definition at line 47 of file CObservationRawDAQ.h.

std::vector<double> mrpt::slam::CObservationRawDAQ::AIN_double

Readings from analog input (ADCs) channels (vector length=channel count) in Volts.

Definition at line 45 of file CObservationRawDAQ.h.

std::vector<float> mrpt::slam::CObservationRawDAQ::AIN_float

Readings from 32-bit analog input (ADCs) channels (vector length=channel count) in ADC units.

Definition at line 44 of file CObservationRawDAQ.h.

bool mrpt::slam::CObservationRawDAQ::AIN_interleaved

Whether the channels are interleaved (A0 A1 A2 A0 A1 A2...) or not (A0 A0 A0 A1 A1 A1 A2 A2 A2...) in the AIN_* vectors.

Definition at line 48 of file CObservationRawDAQ.h.

std::vector<uint16_t> mrpt::slam::CObservationRawDAQ::AOUT_16bits

Present output values for 8-bit analog output (DACs) channels (vector length=channel count) in DAC units.

Definition at line 51 of file CObservationRawDAQ.h.

std::vector<uint8_t> mrpt::slam::CObservationRawDAQ::AOUT_8bits

Definition at line 50 of file CObservationRawDAQ.h.

std::vector<double> mrpt::slam::CObservationRawDAQ::AOUT_double

Present output values for 16-bit analog output (DACs) channels (vector length=channel count) in volts.

Definition at line 53 of file CObservationRawDAQ.h.

std::vector<float> mrpt::slam::CObservationRawDAQ::AOUT_float

Present output values for 16-bit analog output (DACs) channels (vector length=channel count) in DAC units.

Definition at line 52 of file CObservationRawDAQ.h.

const mrpt::utils::TRuntimeClassId mrpt::utils::CObject::classCObject

staticinherited

Definition at line 124 of file CObject.h.

const mrpt::utils::TRuntimeClassId mrpt::slam::CObservation::classCObservation

staticinherited

Definition at line 55 of file CObservation.h.

mrpt::utils::TRuntimeClassId mrpt::slam::CObservationRawDAQ::classCObservationRawDAQ

static

Definition at line 33 of file CObservationRawDAQ.h.

const mrpt::utils::TRuntimeClassId mrpt::utils::CSerializable::classCSerializable

staticinherited

Definition at line 38 of file CSerializable.h.

const mrpt::utils::TRuntimeClassId* mrpt::slam::CObservationRawDAQ::classinfo

static

Definition at line 33 of file CObservationRawDAQ.h.

std::vector<uint32_t> mrpt::slam::CObservationRawDAQ::CNTRIN_32bits

Present digital output values; each byte stores 8 digital inputs, or 8-bit port.

Definition at line 58 of file CObservationRawDAQ.h.

std::vector<double> mrpt::slam::CObservationRawDAQ::CNTRIN_double

Readings from ticks counters, such as quadrature encoders.

(vector length=channel count) in ticks.

Definition at line 59 of file CObservationRawDAQ.h.

std::vector<uint8_t> mrpt::slam::CObservationRawDAQ::DIN

Present output values for 16-bit analog output (DACs) channels (vector length=channel count) in volts.

Definition at line 55 of file CObservationRawDAQ.h.

std::vector<uint8_t> mrpt::slam::CObservationRawDAQ::DOUT

Readings from digital inputs; each byte stores 8 digital inputs, or 8-bit port.

Definition at line 56 of file CObservationRawDAQ.h.

double mrpt::slam::CObservationRawDAQ::sample_rate

Readings from ticks counters, such as quadrature encoders.

(vector length=channel count) in radians, degrees or any other unit (depends on the source driver). The sampling rate, in samples per second per channel

Definition at line 61 of file CObservationRawDAQ.h.

std::string mrpt::slam::CObservation::sensorLabel

inherited

An arbitrary label that can be used to identify the sensor.

Definition at line 71 of file CObservation.h.

mrpt::system::TTimeStamp mrpt::slam::CObservation::timestamp

inherited

The associated time-stamp.

Definition at line 67 of file CObservation.h.

Detailed Description

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions

RTTI stuff

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation