10#ifndef CGyroKVHDSP3000_H
11#define CGyroKVHDSP3000_H
94 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...
A class for interfacing KVH DSP 3000 gyroscope with an assynchronous serial communication (product SN...
void initialize()
Turns on the KVH DSP 3000 device and configure it for getting orientation data.
CGyroKVHDSP3000()
Constructor.
void doProcess()
This method will be invoked at a minimum rate of "process_rate" (Hz)
void resetIncrementalAngle(void)
Send to the sensor the command 'Z' wich reset the integrated angle.
virtual ~CGyroKVHDSP3000()
Destructor.
CSerialPort * m_serialPort
The serial port connection.
void loadConfig_sensorSpecific(const mrpt::utils::CConfigFileBase &configSource, const std::string &iniSection)
See the class documentation at the top for expected parameters.
mrpt::poses::CPose3D m_sensorPose
bool searchPortAndConnect()
Search the port where the sensor is located and connect to it.
void changeMode(GYRO_MODE _newMode)
int m_COMbauds
This serial port will be attempted to be opened automatically when this class is first used to reques...
mrpt::obs::CObservationIMUPtr m_observationGyro
A communications serial port built as an implementation of a utils::CStream.
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
This class allows loading and storing values and vectors of different types from a configuration text...
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.