Class CObservationRawDAQ

Defined in File CObservationRawDAQ.h

Inheritance Relationships

Base Type

public mrpt::obs::CObservation (Class CObservation)

Class Documentation

class CObservationRawDAQ : public mrpt::obs::CObservation 

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

Public Functions

CObservationRawDAQ() = default: Constructor

~CObservationRawDAQ() override = default: Destructor

inline virtual void getSensorPose(mrpt::poses::CPose3D&) const override: Not used in this class

inline virtual void setSensorPose(const mrpt::poses::CPose3D&) override: Not used in this class

virtual void getDescriptionAsText(std::ostream &o) const override: Build a detailed, multi-line textual description of the observation contents and dump it to the output stream.

Note

If overried by derived classes, call base CObservation::getDescriptionAsText() first to show common information.

Note

This is the text that appears in RawLogViewer when selecting an object in the dataset

Public Members

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.

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

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

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

uint16_t AIN_channel_count = {0}: Readings from analog input (ADCs) channels (vector length=channel count) in Volts. How many different ADC channels are present in the AIN_* vectors.

bool AIN_interleaved = {true}: 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.

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.

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

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

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

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

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

std::vector<double> CNTRIN_double: Readings from ticks counters, such as quadrature encoders. (vector length=channel count) in ticks.

double sample_rate = {0}: 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