Sensor Classes C++ 编程代做、代写C++ 面向对象编程、代写C++ sensor

日期：2018-08-25 03:43

Intent: Skills in utilising, classes, functions, pointers and utilising abstraction, encapsulation,

inheritance, polymorphism with appropriate documentation will be assessed.

Individual Task

Weight: 20%

Task: Write a program in C++ using object oriented paradigms that embodies a range of Mechatronics

sensors, utilising abstraction, encapsulation, inheritance and polymorphism. Supply appropriate autogenerated

documentation utilising inline source mark-up.

Rationale: In a Mechatronics System we would use a class to represent a real-world object such as a

Sensor. In large projects to facilitate testing it is common to develop a mock (fake) sensor class that

behaves the same as the real sensor. This allows for some system testing without the presence of all

hardware.

Sensors producing data of similar nature are often abstracted from a base sensor (ie. sensor that

produce range to the sensor surrounding such as a radar/laser/sonar). This allows treating a suite of

sensors in an abstract manner when processing the data, the remaining of our processing code can be

agnostic to the sensor type.

Your task is to:

(a) Create a base sensor class and expand it to a range of sensors

(b) Create a class to process this data that is agnostic to the sensor type and process that data to

produce data that is fused from sensor output.

Due: Sunday 2

nd September 23:59.

Specifics

The physical sensors are collocated, the spatial separation of sensors can be disregarded.

A) Create a Base Sensor Class (called Ranger) and two derived Sensor Classes (Laser and Radar) that

contain:

1. Orientation Offset of Sensor (relative to centre reading of sensor)

2. Field of View of Sensor

3. Angular Resolution

4. Number of Samples

5. Data

6. USB Port for Connection

The Ranger will need to inherit (use as base class) the Rangernterface header and implement its

virtual functions.

B) Each Sensor will need to

1. Initialise all the required variables to enable connecting to the sensor

2. Enable obtaining all the hardware specific fixed parameters of the sensor

3. Enable setting configurable parameters of the sensor

4. Inform if the values to be set are sane, use default values otherwise

5. Obtaining sample sensor data at specific sensor angular resolution and within sensing range:

generated as random value from a normal distribution [link] (mean 6m and standard

deviation 5m)

C) The RangerFusion Class will need to

1. On creation be set to a fusion method (min/max/average)

2. Accept a STL container of Sensors

3. Produce a fusion of sensor readings at the resolution of the laser with specified fusion

method and dealing with readings that are on the boundary of the sensing range (max

range).

4. Return an STL container of raw unfused data (data must be that of raw data prior to fusion)

5. Return an STL container of fused data

6. You will need to inherit (use as base class) the RangerFusionInterface header and

implement its virtual functions.

D) Create a Main that

1. Initialises the sensors (1 Laser, 2 Radars)

2. Queries the fixed sensor parameters

3. Sets sensor parameters as specified by the user

4. Continuously calls (each second) the RangerFusion class, and obtains the fused data output

Assessment Criteria Specifics

Criteria Weight (%) Description / Evidence

Sensor classes exploits

abstraction

(encapsulation, inheritance

and

polymorphism) to cover a

range of sensors

40 Inheritance from base class, common data stored

and generic functionality implemented solely in

base class (no duplication).

Classes that should not be available for

instantiation are aptly protected.

Proper code execution 30 User input of parameters works as expected.

Data values reported as per sensor description

(values and timing).

Documentation 10 ALL classes contain comments to understand

methods, members and inner working (ie border

case handling of fusion)

Modularity of software 20 Appropriate use class declarations, definitions,

default values and naming convention allowing for

reuse.

No implicit coupling between classes that disables

reuse.

Sensor classes interface in ways allowing use of

class in others contexts and expansion (more

sensors can be added or sensors rearranged).

No dependency on ordering of sensors, no “hard

coded” values or assumptions of sensor order in

fusion class.

Sensor 1 – Laser Rangefinder Scanner

Specifications

Model UTM-XXL

Baud 38400 or 115200

Port USB (typically /dev/ttyACMX) …where X=0,1,2

Field of View 180 degrees

Angular Resolution 10 or 30 degrees

Max Distance 8.0m

Min Distance 0.2m

The laser returns NL number of measurements (distances) which are related to the specified angular

resolution. Each measurement is a single point in space.

For the purpose of this assignment assume that the measurement of the entire scan is obtained

instantaneously (disregard acquisition time).

Sensor 2 – Radar

Specifications

Model RAD-001

Baud 38400 or 115200

Port USB (typically /dev/ttyACMX) …where X=0,1,2

Field of View 60 degrees

Angular Resolution 20 degrees

Max Distance 16.0m

Min Distance 0.2m

The radar returns NR number of measurements (distances) which are related to the angular

resolution and field of view (in the above case NR = 3. Each measurement is from an area of space.

The distance returned is to the closest object within that area of space, therefore the return can be

approximated as a triangle in space (an origin and two points at the return distance).

For the purpose of this assignment assume that all radar data is obtained instantaneously (disregard

acquisition time).

Sensor Configurations

The sensors can have a spatial separation. Two sensor configuration examples are presented below.

Sensor Configuration 1 (No offset Radars)

Sensor Field of View [°] Angular Resolution [°] Orientation offset [°]

Laser 180 30 0.0

Radar1 60 20 0.0

Radar2 60 20 0.0

Figure 1 - Configuration 1 with sample readings; blue - laser; red - radar 1; green - radar 2

Sensor Configuration 2

Sensor Field of View [°] Angular Resolution [°] Orientation offset [°]

Laser 180 10 0.0

Radar1 60 20 -30.0

Radar2 60 20 +30.0

Figure 2 - Configuration 1 with sample readings; blue - laser; red - radar 1; green - radar 2

+30.0° -30.0°