Aria  2.8.0
Public Member Functions | Protected Types | Protected Member Functions | Protected Attributes | List of all members
ArCompassConnector Class Reference

Use this class to create an instance of a TCM2 subclass and connect to the device based on program command line options. More...

#include <ArTCM2.h>

Public Member Functions

 ArCompassConnector (ArArgumentParser *argParser)
 
bool connect (ArTCM2 *) const
 
ArTCM2 * create (ArRobot *robot)
 

Protected Types

enum  DeviceType { Robot, SerialTCM, None }
 

Protected Member Functions

void logOptions ()
 
bool parseArgs ()
 

Protected Attributes

ArArgumentParser * myArgParser
 
DeviceType myDeviceType
 
ArFunctorC< ArCompassConnector > myLogArgsCallback
 
ArRetFunctorC< bool, ArCompassConnector > myParseArgsCallback
 
ArRobot * myRobot
 
const char * mySerialPort
 
ArFunctor * mySerialTCMReadFunctor
 

Detailed Description

Use this class to create an instance of a TCM2 subclass and connect to the device based on program command line options.

This allows the user of a program to select a different kind of compass configuration (for example, if the compass is connected to a computer serial port, use ArTCMCompassDirect instead of the normal ArTCMCompassRobot.)

The following command-line arguments are checked: 

Compass options:
-compassType <robot|serialTCM>	Select compass device type (default: robot)
-compassPort <port>	Serial port for "serialTCM" type compass. (default: /dev/ttyS3)
Examples:
demo.cpp.
The documentation for this class was generated from the following files: