/*-------------------------------------------------------------
loadConfig_sensorSpecific
-------------------------------------------------------------*/
void CBoardENoses::loadConfig_sensorSpecific(
const mrpt::utils::CConfigFileBase& configSource,
const std::string& iniSection)
{
MRPT_START
m_usbSerialNumber =
configSource.read_string(iniSection, "USB_serialname", "", false);
#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_COM_baud =
configSource.read_uint64_t(iniSection, "COM_baudRate", m_COM_baud);
configSource.read_vector(
iniSection, "enose_poses_x", vector<float>(0), enose_poses_x, true);
configSource.read_vector(
iniSection, "enose_poses_y", vector<float>(0), enose_poses_y, true);
configSource.read_vector(
iniSection, "enose_poses_z", vector<float>(0), enose_poses_z, true);
configSource.read_vector(
iniSection, "enose_poses_yaw", vector<float>(0), enose_poses_yaw, true);
configSource.read_vector(
iniSection, "enose_poses_pitch", vector<float>(0), enose_poses_pitch,
true);
configSource.read_vector(
iniSection, "enose_poses_roll", vector<float>(0), enose_poses_roll,
true);
ASSERT_(enose_poses_x.size() == enose_poses_y.size());
ASSERT_(enose_poses_x.size() == enose_poses_z.size());
ASSERT_(enose_poses_x.size() == enose_poses_yaw.size());
ASSERT_(enose_poses_x.size() == enose_poses_pitch.size());
ASSERT_(enose_poses_x.size() == enose_poses_roll.size());
// Pass angles to radians:
enose_poses_yaw *= M_PIf / 180.0f;
enose_poses_pitch *= M_PIf / 180.0f;
enose_poses_roll *= M_PIf / 180.0f;
MRPT_END
}
/*-------------------------------------------------------------
loadConfig_sensorSpecific
-------------------------------------------------------------*/
void CEnoseModular::loadConfig_sensorSpecific(
const mrpt::utils::CConfigFileBase &configSource,
const std::string &iniSection )
{
MRPT_START
m_usbSerialNumber = configSource.read_string(iniSection, "USB_serialname","",false);
#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_COM_baud = configSource.read_uint64_t(iniSection, "COM_baudRate",m_COM_baud);
MRPT_END
}