00001 /* +---------------------------------------------------------------------------+ 00002 | The Mobile Robot Programming Toolkit (MRPT) C++ library | 00003 | | 00004 | http://mrpt.sourceforge.net/ | 00005 | | 00006 | Copyright (C) 2005-2008 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 CBoardENoses_H 00030 #define CBoardENoses_H 00031 00032 #include <mrpt/hwdrivers/CInterfaceFTDIMessages.h> 00033 00034 #include <mrpt/slam/CObservationGasSensors.h> 00035 #include <mrpt/utils/CConfigFileBase.h> 00036 00037 00038 namespace mrpt 00039 { 00040 namespace hwdrivers 00041 { 00064 class HWDLLIMPEXP CBoardENoses : public hwdrivers::CInterfaceFTDIMessages 00065 { 00066 protected: 00069 std::string m_usbSerialNumber; 00070 00073 std::vector<float> enose_poses_x,enose_poses_y,enose_poses_z,enose_poses_yaw,enose_poses_pitch,enose_poses_roll; 00074 00078 bool checkConnectionAndConnect(); 00079 00080 public: 00085 CBoardENoses( ); 00086 00089 virtual ~CBoardENoses(); 00090 00094 void loadConfig( 00095 const mrpt::utils::CConfigFileBase *configSource, 00096 const std::string &iniSection ); 00097 00101 bool queryFirmwareVersion( std::string &out_firmwareVersion ); 00102 00107 bool getObservation( mrpt::slam::CObservationGasSensors &outObservation ); 00108 00109 00110 00111 }; // end of class 00112 } // end of namespace 00113 } // end of namespace 00114 00115 00116 #endif 00117 00118
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