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C++ CConfigFileBase::read_float方法代码示例

本文整理汇总了C++中mrpt::utils::CConfigFileBase::read_float方法的典型用法代码示例。如果您正苦于以下问题：C++ CConfigFileBase::read_float方法的具体用法？C++ CConfigFileBase::read_float怎么用？C++ CConfigFileBase::read_float使用的例子？那么恭喜您, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类mrpt::utils::CConfigFileBase的用法示例。


在下文中一共展示了CConfigFileBase::read_float方法的15个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的C++代码示例。

示例1: loadConfig_sensorSpecific

void CIbeoLuxETH::loadConfig_sensorSpecific( const mrpt::utils::CConfigFileBase &configSource,
                             const std::string	  &iniSection )
{
	float pose_x, pose_y, pose_z, pose_yaw, pose_pitch, pose_roll;
    bool faillNotFound = false;
    pose_x = configSource.read_float(iniSection,"pose_x",0,faillNotFound);
    pose_y = configSource.read_float(iniSection,"pose_y",0,faillNotFound);
    pose_z = configSource.read_float(iniSection,"pose_z",0,faillNotFound);
    pose_yaw = configSource.read_float(iniSection,"pose_yaw",0,faillNotFound);
    pose_pitch = configSource.read_float(iniSection,"pose_pitch",0,faillNotFound);
    pose_roll = configSource.read_float(iniSection,"pose_roll",0,faillNotFound);

    m_sensorPose = CPose3D( pose_x, pose_y, pose_z,
        DEG2RAD( pose_yaw ),DEG2RAD( pose_pitch ), DEG2RAD( pose_roll ));

}
开发者ID:Insomnia-，项目名称:mrpt，代码行数:16，代码来源:CIbeoLuxETH.cpp

示例2: loadConfig_sensorSpecific

/*-------------------------------------------------------------
						loadConfig_sensorSpecific
-------------------------------------------------------------*/
void  CBoardSonars::loadConfig_sensorSpecific(	const mrpt::utils::CConfigFileBase &configSource,
								const std::string	  &iniSection )
{
	MRPT_START

	std::vector<double> aux;											// Auxiliar vector

	// Some parameters ...
	m_usbSerialNumber	= configSource.read_string(iniSection,"USB_serialNumber",m_usbSerialNumber,true);
	m_gain				= configSource.read_int(iniSection,"gain",m_gain,true);
	m_maxRange			= configSource.read_float(iniSection,"maxRange",m_maxRange,true);
	m_minTimeBetweenPings = configSource.read_float(iniSection,"minTimeBetweenPings",m_minTimeBetweenPings,true);
	// ----------------------------------------------------------------------------------------------------------------------
	ASSERT_( m_maxRange>0 && m_maxRange<=11 );
	ASSERT_( m_gain<=16 );


	// Sonar firing order ...
	configSource.read_vector( iniSection, "firingOrder", m_firingOrder, m_firingOrder, true );

	// ----------------------------------------------------------------------------------------------------------------------

	// Individual sonar gains ...
	configSource.read_vector( iniSection, "sonarGains", aux, aux, true );

	std::vector<int32_t>::iterator itSonar;
	std::vector<double>::iterator	itAux;
	for( itSonar = m_firingOrder.begin(), itAux = aux.begin(); itSonar != m_firingOrder.end(); ++itSonar, ++itAux )
		m_sonarGains[ *itSonar ] = *itAux;
	// ----------------------------------------------------------------------------------------------------------------------
	ASSERT_( aux.size() == m_firingOrder.size() );

	// Individual sonar poses
	aux.clear();
	for( itSonar = m_firingOrder.begin(); itSonar != m_firingOrder.end(); ++itSonar )
	{
		configSource.read_vector( iniSection, format("pose%i",*itSonar), aux, aux, true );	// Get the sonar poses
		m_sonarPoses[ *itSonar ] = mrpt::math::TPose3D( aux[0], aux[1], aux[2], DEG2RAD( (float)aux[3]), DEG2RAD( (float)aux[4]), DEG2RAD( (float)aux[5]) );
	}
	// ----------------------------------------------------------------------------------------------------------------------
	ASSERT_( m_sonarGains.size() == m_firingOrder.size() );

	MRPT_END
}
开发者ID:3660628，项目名称:mrpt，代码行数:47，代码来源:CBoardSonars.cpp

示例3: loadConfig_sensorSpecific

/*-------------------------------------------------------------
						loadConfig
-------------------------------------------------------------*/
void  CActivMediaRobotBase::loadConfig_sensorSpecific(
	const mrpt::utils::CConfigFileBase &configSource,
	const std::string	  &iniSection )
{
#ifdef MRPT_OS_WINDOWS
	m_com_port = configSource.read_string(iniSection,"robotPort_WIN",m_com_port,true);
#else
	m_com_port = configSource.read_string(iniSection,"robotPort_LIN",m_com_port,true);
#endif
	m_robotBaud = configSource.read_int(iniSection, "robotBaud", m_robotBaud, true );

	m_enableSonars = configSource.read_bool(iniSection, "enableSonars", m_enableSonars );

	m_enableJoyControl = configSource.read_bool(iniSection, "joystick_control", m_enableJoyControl );
	m_joy_max_v = configSource.read_float(iniSection, "joystick_max_v", m_joy_max_v );
	m_joy_max_w = DEG2RAD( configSource.read_float(iniSection, "joystick_max_w_degps", RAD2DEG(m_joy_max_w) ) );
	m_capture_rate = configSource.read_double(iniSection, "capture_rate", m_capture_rate );

}
开发者ID:Insomnia-，项目名称:mrpt，代码行数:22，代码来源:CActivMediaRobotBase.cpp

示例4: loadConfig_sensorSpecific

/* -----------------------------------------------------
                loadConfig_sensorSpecific
   ----------------------------------------------------- */
void  CGillAnemometer::loadConfig_sensorSpecific(
	const mrpt::utils::CConfigFileBase &configSource,
	const std::string			&iniSection )
{
#ifdef MRPT_OS_WINDOWS
	com_port = configSource.read_string(iniSection, "COM_port_WIN", "COM1", true ) ;
#else
	com_port = configSource.read_string(iniSection, "COM_port_LIN", "/dev/tty0", true );
#endif

	com_bauds		= configSource.read_int( iniSection, "COM_baudRate",9600, false );

	pose_x = configSource.read_float(iniSection,"pose_x",0,true);
	pose_y = configSource.read_float(iniSection,"pose_y",0,true);
	pose_z = configSource.read_float(iniSection,"pose_z",0,true);
	pose_roll = configSource.read_float(iniSection,"pose_roll",0,true);
	pose_pitch = configSource.read_float(iniSection,"pose_pitch",0,true);
	pose_yaw = configSource.read_float(iniSection,"pose_yaw",0,true);
}
开发者ID:3660628，项目名称:mrpt，代码行数:22，代码来源:CGillAnemometer.cpp

示例5: string

void CLMS100Eth::loadConfig_sensorSpecific( const mrpt::utils::CConfigFileBase &configSource,
                             const std::string	  &iniSection )
{
	C2DRangeFinderAbstract::loadCommonParams(configSource, iniSection);
    float pose_x, pose_y, pose_z, pose_yaw, pose_pitch, pose_roll;

    pose_x = configSource.read_float(iniSection,"pose_x",0,false);
    pose_y = configSource.read_float(iniSection,"pose_y",0,false);
    pose_z = configSource.read_float(iniSection,"pose_z",0,false);
    pose_yaw = configSource.read_float(iniSection,"pose_yaw",0,false);
    pose_pitch = configSource.read_float(iniSection,"pose_pitch",0,false);
    pose_roll = configSource.read_float(iniSection,"pose_roll",0,false);
	m_ip = configSource.read_string(iniSection, "ip_address", "192.168.0.1", false);
	m_port = configSource.read_int(iniSection, "TCP_port", 2111, false);
	m_process_rate = configSource.read_int(iniSection, string("process_rate"), 10, false);
	m_sensorLabel = configSource.read_string(iniSection, "sensorLabel", "SICK", false);
    m_sensorPose = CPose3D( pose_x, pose_y, pose_z,
        DEG2RAD( pose_yaw ),DEG2RAD( pose_pitch ), DEG2RAD( pose_roll ));

}
开发者ID:mangi020，项目名称:mrpt，代码行数:20，代码来源:CLMS100eth.cpp

示例6: 

/*---------------------------------------------------------------
					loadFromConfigFile
  ---------------------------------------------------------------*/
void  CICP::TConfigParams::loadFromConfigFile(
	const mrpt::utils::CConfigFileBase  &iniFile,
	const std::string &section)
{
	MRPT_LOAD_CONFIG_VAR( maxIterations, int,			iniFile, section);
	MRPT_LOAD_CONFIG_VAR( minAbsStep_trans, float,			iniFile, section);
	MRPT_LOAD_CONFIG_VAR( minAbsStep_rot, float,			iniFile, section);

	ICP_algorithm = iniFile.read_enum<TICPAlgorithm>(section,"ICP_algorithm",ICP_algorithm);
	ICP_covariance_method = iniFile.read_enum<TICPCovarianceMethod>(section,"ICP_covariance_method",ICP_covariance_method);

	MRPT_LOAD_CONFIG_VAR( thresholdDist, float,			iniFile, section);
	thresholdAng = DEG2RAD( iniFile.read_float(section.c_str(),"thresholdAng_DEG",RAD2DEG(thresholdAng)) );

	MRPT_LOAD_CONFIG_VAR( ALFA, float,						iniFile, section);
	MRPT_LOAD_CONFIG_VAR( smallestThresholdDist, float,		iniFile, section);
	MRPT_LOAD_CONFIG_VAR( onlyClosestCorrespondences, bool,	iniFile, section);
	MRPT_LOAD_CONFIG_VAR( onlyUniqueRobust, bool, 			iniFile, section);
	MRPT_LOAD_CONFIG_VAR( doRANSAC, bool, 					iniFile, section);
	MRPT_LOAD_CONFIG_VAR( covariance_varPoints,float, 		iniFile, section);

	MRPT_LOAD_CONFIG_VAR( ransac_minSetSize, int, 			iniFile, section);
	MRPT_LOAD_CONFIG_VAR( ransac_maxSetSize, int,			iniFile, section);
	MRPT_LOAD_CONFIG_VAR( ransac_mahalanobisDistanceThreshold, float, iniFile, section);
	MRPT_LOAD_CONFIG_VAR( ransac_nSimulations, int, 		iniFile, section);
	MRPT_LOAD_CONFIG_VAR( normalizationStd, float, 			iniFile, section);
	MRPT_LOAD_CONFIG_VAR( ransac_fuseByCorrsMatch, bool, 	iniFile, section);
	MRPT_LOAD_CONFIG_VAR( ransac_fuseMaxDiffXY, float,  	iniFile, section);
	ransac_fuseMaxDiffPhi			= DEG2RAD( iniFile.read_float(section.c_str(),"ransac_fuseMaxDiffPhi_DEG",RAD2DEG(ransac_fuseMaxDiffPhi)) );

	MRPT_LOAD_CONFIG_VAR( kernel_rho, float,				iniFile, section);
	MRPT_LOAD_CONFIG_VAR( use_kernel, bool, 				iniFile, section);
	MRPT_LOAD_CONFIG_VAR( Axy_aprox_derivatives, float,		iniFile, section);
	MRPT_LOAD_CONFIG_VAR( LM_initial_lambda, float,			iniFile, section);

	MRPT_LOAD_CONFIG_VAR( skip_cov_calculation, bool, 				iniFile, section);
	MRPT_LOAD_CONFIG_VAR( skip_quality_calculation, bool, 				iniFile, section);

	MRPT_LOAD_CONFIG_VAR( corresponding_points_decimation, int, 				iniFile, section);

}
开发者ID:GYengera，项目名称:mrpt，代码行数:44，代码来源:CICP.cpp

示例7: loadConfig_sensorSpecific

/*-------------------------------------------------------------
						loadConfig_sensorSpecific
-------------------------------------------------------------*/
void  CHokuyoURG::loadConfig_sensorSpecific(
	const mrpt::utils::CConfigFileBase &configSource,
	const std::string	  &iniSection )
{
	m_reduced_fov = DEG2RAD( configSource.read_float(iniSection,"reduced_fov",0) ),

	m_motorSpeed_rpm	= configSource.read_int(iniSection,"HOKUYO_motorSpeed_rpm",0);
	m_sensorPose.setFromValues(
		configSource.read_float(iniSection,"pose_x",0),
		configSource.read_float(iniSection,"pose_y",0),
		configSource.read_float(iniSection,"pose_z",0),
		DEG2RAD( configSource.read_float(iniSection,"pose_yaw",0) ),
		DEG2RAD( configSource.read_float(iniSection,"pose_pitch",0) ),
		DEG2RAD( configSource.read_float(iniSection,"pose_roll",0) )
		);

	m_highSensMode = configSource.read_bool(iniSection,"HOKUYO_HS_mode",m_highSensMode);

#ifdef MRPT_OS_WINDOWS
	m_com_port = configSource.read_string(iniSection, "COM_port_WIN", m_com_port, true );
#else
	m_com_port = configSource.read_string(iniSection, "COM_port_LIN", m_com_port, true );
#endif

	m_ip_dir = configSource.read_string(iniSection, "IP_DIR", m_ip_dir );
	m_port_dir = configSource.read_int(iniSection, "PORT_DIR", m_port_dir );

	// FAMD
	m_showPreview = configSource.read_bool(iniSection, "preview", false );

	// Parent options:
	this->loadExclusionAreas(configSource,iniSection);
}
开发者ID:DYFeng，项目名称:mrpt，代码行数:36，代码来源:CHokuyoURG.cpp

示例8: 

/** 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)
*  \exception This method must throw an exception with a descriptive message if some critical parameter is missing or has an invalid value.
*/
void  COpenNI2_RGBD360::loadConfig_sensorSpecific(
    const mrpt::utils::CConfigFileBase &configSource,
    const std::string			&iniSection )
{
    cout << "COpenNI2_RGBD360::loadConfig_sensorSpecific...\n";

    m_sensorPoseOnRobot.setFromValues(
        configSource.read_float(iniSection,"pose_x",0),
        configSource.read_float(iniSection,"pose_y",0),
        configSource.read_float(iniSection,"pose_z",0),
        DEG2RAD( configSource.read_float(iniSection,"pose_yaw",0) ),
        DEG2RAD( configSource.read_float(iniSection,"pose_pitch",0) ),
        DEG2RAD( configSource.read_float(iniSection,"pose_roll",0) )
    );

    m_preview_window = configSource.read_bool(iniSection,"preview_window",m_preview_window);

    m_width = configSource.read_int(iniSection,"width",0);
    m_height = configSource.read_int(iniSection,"height",0);
    m_fps = configSource.read_float(iniSection,"fps",0);
    std::cout << "width " << m_width << " height " << m_height << " fps " << m_fps << endl;

    m_grab_rgb = configSource.read_bool(iniSection,"grab_image",m_grab_rgb);
    m_grab_depth = configSource.read_bool(iniSection,"grab_depth",m_grab_depth);
    m_grab_3D_points = configSource.read_bool(iniSection,"grab_3D_points",m_grab_3D_points);

    //  m_num_sensors = configSource.read_int(iniSection,"m_num_sensors",0);
}
开发者ID:Insane-neal，项目名称:mrpt，代码行数:31，代码来源:COpenNI2_RGBD360.cpp

示例9: loadConfig_sensorSpecific

/*-------------------------------------------------------------
						loadConfig_sensorSpecific
-------------------------------------------------------------*/
void  CHokuyoURG::loadConfig_sensorSpecific(
    const mrpt::utils::CConfigFileBase &configSource,
    const std::string	  &iniSection )
{
    m_reduced_fov = DEG2RAD( configSource.read_float(iniSection,"reduced_fov",0) ),

    m_motorSpeed_rpm	= configSource.read_int(iniSection,"HOKUYO_motorSpeed_rpm",0);
    m_sensorPose.setFromValues(
        configSource.read_float(iniSection,"pose_x",0),
        configSource.read_float(iniSection,"pose_y",0),
        configSource.read_float(iniSection,"pose_z",0),
        DEG2RAD( configSource.read_float(iniSection,"pose_yaw",0) ),
        DEG2RAD( configSource.read_float(iniSection,"pose_pitch",0) ),
        DEG2RAD( configSource.read_float(iniSection,"pose_roll",0) )
    );

    m_highSensMode = configSource.read_bool(iniSection,"HOKUYO_HS_mode",m_highSensMode);

#ifdef MRPT_OS_WINDOWS
    m_com_port = configSource.read_string(iniSection, "COM_port_WIN", m_com_port, true );
#else
    m_com_port = configSource.read_string(iniSection, "COM_port_LIN", m_com_port, true );
#endif

    m_ip_dir = configSource.read_string(iniSection, "IP_DIR", m_ip_dir );
    m_port_dir = configSource.read_int(iniSection, "PORT_DIR", m_port_dir );

    m_disable_firmware_timestamp = configSource.read_bool(iniSection, "disable_firmware_timestamp", m_disable_firmware_timestamp);

    // Parent options:
    C2DRangeFinderAbstract::loadCommonParams(configSource, iniSection);
}
开发者ID:MaryBD，项目名称:mrpt，代码行数:35，代码来源:CHokuyoURG.cpp

示例10: loadConfig_sensorSpecific

/*-------------------------------------------------------------
					loadConfig_sensorSpecific
-------------------------------------------------------------*/
void  CIMUXSens::loadConfig_sensorSpecific(
	const mrpt::utils::CConfigFileBase &configSource,
	const std::string	  &iniSection )
{
	m_sensorPose.setFromValues(
        configSource.read_float( iniSection, "pose_x", 0, false ),
        configSource.read_float( iniSection, "pose_y", 0, false ),
        configSource.read_float( iniSection, "pose_z", 0, false ),
        DEG2RAD( configSource.read_float( iniSection, "pose_yaw", 0, false ) ),
        DEG2RAD( configSource.read_float( iniSection, "pose_pitch", 0, false ) ),
        DEG2RAD( configSource.read_float( iniSection, "pose_roll", 0, false ) ) );

	m_COMbauds = configSource.read_int(iniSection, "baudRate", m_COMbauds, false );

#ifdef MRPT_OS_WINDOWS
	m_com_port = configSource.read_string(iniSection, "COM_port_WIN", m_com_port, false );
#else
	m_com_port = configSource.read_string(iniSection, "COM_port_LIN", m_com_port, false );
#endif


}
开发者ID:DYFeng，项目名称:mrpt，代码行数:25，代码来源:CIMUXSens.cpp

示例11: loadConfig_sensorSpecific

/* -----------------------------------------------------
                loadConfig_sensorSpecific
   ----------------------------------------------------- */
void  CGPSInterface::loadConfig_sensorSpecific(
	const mrpt::utils::CConfigFileBase &configSource,
	const std::string	  &iniSection )
{
	m_parser = configSource.read_enum<CGPSInterface::PARSERS>(iniSection,"parser",m_parser,false /*Allow default values*/);
	m_raw_dump_file_prefix = configSource.read_string(iniSection,"raw_dump_file_prefix",m_raw_dump_file_prefix,false /*Allow default values*/);

#ifdef MRPT_OS_WINDOWS
	m_COMname = configSource.read_string(iniSection, "COM_port_WIN", m_COMname, true );
#else
	m_COMname = configSource.read_string(iniSection, "COM_port_LIN", m_COMname, true );
#endif

	m_COMbauds		= configSource.read_int( iniSection, "baudRate",m_COMbauds, true );

	// legacy custom cmds:
	m_customInit	= configSource.read_string( iniSection, "customInit", m_customInit, false );

	// new custom cmds:
	m_custom_cmds_delay = configSource.read_float( iniSection, "custom_cmds_delay",m_custom_cmds_delay );
	m_custom_cmds_append_CRLF = configSource.read_bool( iniSection, "custom_cmds_append_CRLF",m_custom_cmds_append_CRLF);
	// Load as many strings as found on the way:
	m_setup_cmds.clear();
	for (int i=1; true; i++)
	{
		std::string sLine = configSource.read_string(iniSection, mrpt::format("setup_cmd%i",i),std::string() ); 
		sLine = mrpt::system::trim( sLine );
		if (sLine.empty()) 
			break;
		m_setup_cmds.push_back(sLine);
	}

	m_shutdown_cmds.clear();
	for (int i=1; true; i++)
	{
		std::string sLine = configSource.read_string(iniSection, mrpt::format("shutdown_cmd%i",i),std::string() ); 
		sLine = mrpt::system::trim( sLine );
		if (sLine.empty()) 
			break;
		m_shutdown_cmds.push_back(sLine);
	}

	m_sensorPose.setFromValues(
		configSource.read_float(iniSection,"pose_x",0),
		configSource.read_float(iniSection,"pose_y",0),
		configSource.read_float(iniSection,"pose_z",0),
		DEG2RAD( configSource.read_float(iniSection,"pose_yaw",0) ),
		DEG2RAD( configSource.read_float(iniSection,"pose_pitch",0) ),
		DEG2RAD( configSource.read_float(iniSection,"pose_roll",0) )
		);

	m_JAVAD_rtk_src_port = configSource.read_string(iniSection, "JAVAD_rtk_src_port",m_JAVAD_rtk_src_port );
	m_JAVAD_rtk_src_baud = configSource.read_int(iniSection, "JAVAD_rtk_src_baud",m_JAVAD_rtk_src_baud );
	m_JAVAD_rtk_format   = configSource.read_string(iniSection,"JAVAD_rtk_format", m_JAVAD_rtk_format );

    m_topcon_useAIMMode = configSource.read_bool( iniSection,"JAVAD_useAIMMode", m_topcon_useAIMMode );
    m_topcon_data_period = 1.0/configSource.read_double( iniSection,"outputRate", m_topcon_data_period );
}
开发者ID:deksprime，项目名称:mrpt，代码行数:61，代码来源:CGPSInterface.cpp

示例12: loadConfig_sensorSpecific

/* -----------------------------------------------------
                loadConfig_sensorSpecific
   ----------------------------------------------------- */
void  CGPSInterface::loadConfig_sensorSpecific(
    const mrpt::utils::CConfigFileBase &configSource,
    const std::string	  &iniSection )
{
#ifdef MRPT_OS_WINDOWS
    m_COMname = configSource.read_string(iniSection, "COM_port_WIN", m_COMname, true );
#else
    m_COMname = configSource.read_string(iniSection, "COM_port_LIN", m_COMname, true );
#endif

    m_COMbauds		= configSource.read_int( iniSection, "baudRate",m_COMbauds, true );

    m_customInit	= configSource.read_string( iniSection, "customInit", m_customInit, false );

    m_sensorPose.x( configSource.read_float( iniSection, "pose_x",0, false ) );
    m_sensorPose.y( configSource.read_float( iniSection, "pose_y",0, false ) );
    m_sensorPose.z( configSource.read_float( iniSection, "pose_z",0, false ) );

    m_JAVAD_rtk_src_port = configSource.read_string(iniSection, "JAVAD_rtk_src_port",m_JAVAD_rtk_src_port );
    m_JAVAD_rtk_src_baud = configSource.read_int(iniSection, "JAVAD_rtk_src_baud",m_JAVAD_rtk_src_baud );
    m_JAVAD_rtk_format   = configSource.read_string(iniSection,"JAVAD_rtk_format", m_JAVAD_rtk_format );

    m_useAIMMode = configSource.read_bool( iniSection,"JAVAD_useAIMMode", m_useAIMMode );
}
开发者ID:gamman，项目名称:MRPT，代码行数:27，代码来源:CGPSInterface.cpp

示例13: twist

/** 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)
*  \exception This method must throw an exception with a descriptive message if some critical parameter is missing or has an invalid value.
*/
void  COpenNI2Sensor::loadConfig_sensorSpecific(
	const mrpt::utils::CConfigFileBase &configSource,
	const std::string			&iniSection )
{
	cout << "COpenNI2Sensor::loadConfig_sensorSpecific...\n";

	m_sensorPoseOnRobot.setFromValues(
		configSource.read_float(iniSection,"pose_x",0),
		configSource.read_float(iniSection,"pose_y",0),
		configSource.read_float(iniSection,"pose_z",0),
		DEG2RAD( configSource.read_float(iniSection,"pose_yaw",0) ),
		DEG2RAD( configSource.read_float(iniSection,"pose_pitch",0) ),
		DEG2RAD( configSource.read_float(iniSection,"pose_roll",0) )
		);

	m_preview_window = configSource.read_bool(iniSection,"preview_window",m_preview_window);

	width = configSource.read_int(iniSection,"width",0);
	height = configSource.read_int(iniSection,"height",0);
	fps = configSource.read_float(iniSection,"fps",0);
	std::cout << "width " << width << " height " << height << " fps " << fps << endl;

	const mrpt::poses::CPose3D twist(0,0,0,DEG2RAD(-90),DEG2RAD(0),DEG2RAD(-90));

	mrpt::utils::TStereoCamera  sc;
	sc.leftCamera  = m_cameraParamsDepth;  // Load default values so that if we fail to load from cfg at least we have some reasonable numbers.
	sc.rightCamera = m_cameraParamsRGB;
	sc.rightCameraPose = mrpt::poses::CPose3DQuat(m_relativePoseIntensityWRTDepth - twist);

	try {
		sc.loadFromConfigFile(iniSection,configSource);
	} catch (std::exception &e) {
		std::cout << "[COpenNI2Sensor::loadConfig_sensorSpecific] Warning: Ignoring error loading calibration parameters:\n" << e.what();
	}
	m_cameraParamsDepth = sc.leftCamera;
	m_cameraParamsRGB   = sc.rightCamera;
	m_relativePoseIntensityWRTDepth = twist + mrpt::poses::CPose3D(sc.rightCameraPose);

	// Id:
	m_user_device_number = configSource.read_int(iniSection,"device_number",m_user_device_number );
	cout << "LOAD m_user_device_number " << m_user_device_number << endl;

	m_grab_image = configSource.read_bool(iniSection,"grab_image",m_grab_image);
	m_grab_depth = configSource.read_bool(iniSection,"grab_depth",m_grab_depth);
	m_grab_3D_points = configSource.read_bool(iniSection,"grab_3D_points",m_grab_3D_points);

	{
		std::string s = configSource.read_string(iniSection,"relativePoseIntensityWRTDepth","");
		if (!s.empty())
			m_relativePoseIntensityWRTDepth.fromString(s);
	}

}
开发者ID:anthonykylai，项目名称:mrpt-1，代码行数:56，代码来源:COpenNI2Sensor.cpp

示例14: loadConfig_sensorSpecific

/*-------------------------------------------------------------
						loadConfig_sensorSpecific
-------------------------------------------------------------*/
void  CHokuyoURG::loadConfig_sensorSpecific(
	const mrpt::utils::CConfigFileBase &configSource,
	const std::string	  &iniSection )
{
	m_reduced_fov = DEG2RAD( configSource.read_float(iniSection,"reduced_fov",0) ),

	m_motorSpeed_rpm	= configSource.read_int(iniSection,"HOKUYO_motorSpeed_rpm",0);
	m_sensorPose.setFromValues(
		configSource.read_float(iniSection,"pose_x",0),
		configSource.read_float(iniSection,"pose_y",0),
		configSource.read_float(iniSection,"pose_z",0),
		DEG2RAD( configSource.read_float(iniSection,"pose_yaw",0) ),
		DEG2RAD( configSource.read_float(iniSection,"pose_pitch",0) ),
		DEG2RAD( configSource.read_float(iniSection,"pose_roll",0) )
		);

	m_highSensMode = configSource.read_bool(iniSection,"HOKUYO_HS_mode",m_highSensMode);

#ifdef MRPT_OS_WINDOWS
	m_com_port = configSource.read_string(iniSection, "COM_port_WIN", m_com_port);
#else
	m_com_port = configSource.read_string(iniSection, "COM_port_LIN", m_com_port);
#endif

	m_ip_dir = configSource.read_string(iniSection, "IP_DIR", m_ip_dir );
	m_port_dir = configSource.read_int(iniSection, "PORT_DIR", m_port_dir );

	ASSERTMSG_(!m_com_port.empty() || !m_ip_dir.empty(), "Either COM_port or IP_DIR must be defined in the configuration file!");
	ASSERTMSG_(m_com_port.empty() || m_ip_dir.empty(), "Both COM_port and IP_DIR set! Please, define only one of them.");
	if (!m_ip_dir.empty()) { ASSERTMSG_(m_port_dir,"A TCP/IP port number `PORT_DIR` must be specified for Ethernet connection"); }

	

	m_disable_firmware_timestamp = configSource.read_bool(iniSection, "disable_firmware_timestamp", m_disable_firmware_timestamp);

	// Parent options:
	C2DRangeFinderAbstract::loadCommonParams(configSource, iniSection);
}
开发者ID:Leedorado，项目名称:mrpt，代码行数:41，代码来源:CHokuyoURG.cpp

示例15: loadConfig_sensorSpecific

/* -----------------------------------------------------
                loadConfig_sensorSpecific
   ----------------------------------------------------- */
void  CPhidgetInterfaceKitProximitySensors::loadConfig_sensorSpecific(
	const mrpt::utils::CConfigFileBase &configSource,
	const std::string	  &iniSection )
{
#if MRPT_HAS_PHIDGET
	if(!configSource.sectionExists(iniSection)) THROW_EXCEPTION("Can't find section in configuration file");
	// looking for the board parameters.
	// process_rate = 100 						// Hz (common to all sensors)
	// serialNumber = 12345						// The interface kit serial number.
	m_process_rate = configSource.read_int(iniSection, string("process_rate"), 50);
	m_serialNumber = configSource.read_int(iniSection, string("serialNumber"), -1);
	bool display = configSource.read_bool(iniSection, string("displayRecapitulativeInformations"), false);

	// Looking for each sensor.

	for(int i = 1 ; i <= 8 ; i++)
	{
		string sensorNKeyName = format("sensor%d", i);
		string sensorType = configSource.read_string(iniSection, sensorNKeyName, string("UNPLUGGED"));
		if(sensorType != string("UNPLUGGED"))
		{
			// the sensor is plugged :
			// // check if the sensor type is supported.
			if(sensorType == string("EZ1"))
			{
				m_sensorType[i-1] = EZ1;
				m_minRange[i-1] = 0.15;			// meters
				m_maxRange[i-1] = 6.45;			// meters
			}else if(sensorType == string("SHARP-30cm"))
			{
				m_sensorType[i-1] = SHARP_30cm;
				m_minRange[i-1] = 0.04;			// meters
				m_maxRange[i-1] = 0.3;			// meters
			}else if(sensorType == string("SHARP-80cm"))
			{
				m_sensorType[i-1] = SHARP_80cm;
				m_minRange[i-1] = 0.06;			// meters
				m_maxRange[i-1] = 0.8;			// meters
			}else
			{
				string err = format("Type of sensor %d is not supported", i);
				m_state = CGenericSensor::ssError;
				THROW_EXCEPTION(err);
			}
			m_sensorIsPlugged[i-1] = true;
			// reading the sensor pose.
			string sensorNPoseX = format("pose%d_x", i);
			string sensorNPoseY = format("pose%d_y", i);
			string sensorNPoseZ = format("pose%d_z", i);
			string sensorNPoseYaw = format("pose%d_yaw", i);
			string sensorNPosePitch = format("pose%d_pitch", i);
			string sensorNPoseRoll = format("pose%d_roll", i);

			float x = configSource.read_float(iniSection, sensorNPoseX, 0.0);
			float y = configSource.read_float(iniSection, sensorNPoseY, 0.0);
			float z = configSource.read_float(iniSection, sensorNPoseZ, 0.0);
			float yaw = configSource.read_float(iniSection, sensorNPoseYaw, 0.0);
			float pitch = configSource.read_float(iniSection, sensorNPosePitch, 0.0);
			float roll = configSource.read_float(iniSection, sensorNPoseRoll, 0.0);

			m_sensorPoses[i-1] = CPose3D(x,y,z,yaw,pitch,roll);
		}
	}
	if(display)
	{	// width = 80;
		cout.fill(' ');
		cout << "+------------------------------------------------------------------------------+" << endl;
		cout.width(79);
		cout << "|  Phidget interfaceKit board number : " << m_serialNumber;
		cout << "|" << endl;
		cout << "| Process rate : " << m_process_rate;
		cout << "|" << endl;
		cout << "+---------+---------------------+----------------------------------------------+" << endl;
		cout << "|    #    + Sensor type         | Sensor 3D pose                               |" << endl;
		cout << "+---------+---------------------+----------------------------------------------+" << endl;
		for(int i = 0 ; i < 8 ; i++)
		{
			cout << "|";
			cout.width(9);
			cout << i+1;
			cout << " |";
			cout.width(19);
			switch (m_sensorType[i])
			{
				case EZ1 :
					cout << "EZ1 |";
					break;
				case SHARP_30cm :
					cout << "SHARP_30cm |";
					break;
				case SHARP_80cm :
					cout << "SHARP_80cm |";
					break;
				case UNPLUGGED :
					cout << "UNPLUGGED |";
					break;
			}
//.........这里部分代码省略.........
开发者ID:gamman，项目名称:MRPT，代码行数:101，代码来源:CPhidgetInterfaceKitProximitySensors.cpp


注：本文中的mrpt::utils::CConfigFileBase::read_float方法示例由纯净天空整理自Github/MSDocs等开源代码及文档管理平台，相关代码片段筛选自各路编程大神贡献的开源项目，源码版权归原作者所有，传播和使用请参考对应项目的License；未经允许，请勿转载。