/*------------------------------------------------------------- loadConfig_sensorSpecific -------------------------------------------------------------*/ void CBoardENoses::loadConfig_sensorSpecific( const mrpt::config::CConfigFileBase& configSource, const std::string& iniSection) { MRPT_START m_usbSerialNumber = configSource.read_string(iniSection, "USB_serialname", "", false); #ifdef _WIN32 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::config::CConfigFileBase& configSource, const std::string& iniSection) { MRPT_START m_usbSerialNumber = configSource.read_string(iniSection, "USB_serialname", "", false); #ifdef _WIN32 m_COM_port = configSource.read_string(iniSection, "COM_port_WIN", "COM1"); #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 }