docs improvements

doc/source/compiling.rst

@@ -31,27 +31,39 @@ Minimum compiler requisites:
 .. dropdown:: Debian/Ubuntu
     :open:
 
-    **Minimum** recommended requisites:
+    **Minimum recommended** requisites:
 
     .. code-block:: bash
 
        sudo apt install build-essential pkg-config cmake libwxgtk3.0-dev \
-            libwxgtk3.0-gtk3-dev libopencv-dev libeigen3-dev libgtest-dev
+         libwxgtk3.0-gtk3-dev libopencv-dev libeigen3-dev zlib1g-dev \
+         libsuitesparse-dev libjpeg-dev
 
-    **Recommended additional** packages to enable most MRPT features
-    (except ROS bridges):
+    **Recommended additional** packages to enable most MRPT features:
 
     .. code-block:: bash
 
-       sudo apt install libftdi-dev freeglut3-dev zlib1g-dev \
-            libusb-1.0-0-dev libudev-dev libfreenect-dev libdc1394-22-dev \
-            libavformat-dev libswscale-dev libassimp-dev libjpeg-dev \
-            libsuitesparse-dev libpcap-dev liboctomap-dev libglfw3-dev \
-            binutils-dev
+       # Build OpenGL graphics, Qt and nanogui GUIs:
+       sudo apt install freeglut3-dev libassimp-dev libglfw3-dev \
+            libglu1-mesa-dev libqt5opengl5-dev qtbase5-dev \
+            libxrandr-dev libxxf86vm-dev
 
+       # Support most common sensors:
+       sudo apt install libftdi-dev libusb-1.0-0-dev libudev-dev libfreenect-dev \
+            libdc1394-22-dev libavformat-dev libswscale-dev libpcap-dev \
+            liboctomap-dev libopenni2-dev
 
-    Install additional dependencies for ros1bridge using official Ubuntu
-    repositories. If you already have a ROS distribution installed,
+       # Support showing debug information in call stacks upon exceptions:
+       sudo apt install binutils-dev libiberty-dev
+
+       # Support using system SimpleINI library (only Ubuntu >=20.04 focal)
+       sudo apt install libicu-dev libsimpleini-dev
+
+    If your Ubuntu distribution is old and does not have any of the packages
+    above, do not worry and ignore it, MRPT CMake scripts will handle it.
+
+    **ROS1 support:** Install additional dependencies for ros1bridge using
+    official Ubuntu repositories. If you already have a ROS distribution installed,
     doing ``source /opt/ros/xxx/setup.bash`` is enough, no further packages
     must be installed. Do not install these packages if you do not need
     the `mrpt::ros1bridge <group_mrpt_ros1bridge_grp.html>`_ module.

doc/source/supported-sensors.rst

@@ -11,9 +11,9 @@ All hardware and sensor-related classes can be found in
 the \ `mrpt-hwdrivers
 library <mrpt-hwdrivers.html>`__,
 which contains
-the \ `mrpt::hwdrivers <namespacemrpt_1_1hwdrivers.html>`__ namespace.
-See also
-the \ `rawlog-grabber <application-rawlog-grabber.html>`__ application.
+the \ `mrpt::hwdrivers <namespace_mrpt_hwdrivers.html>`__ namespace.
+See also: :ref:`doxid-app_rawlog-grabber`.
+
 Unless specifically noted, all devices are supported under \ **both
 Windows and Linux**, with only some (for now) supported on MacOS.
 
@@ -32,13 +32,13 @@ Any 3D camera supported by OpenNI2
    :align: right
 
 The C++ interface is implemented in the
-class \ `mrpt::hwdrivers::OpenNI2Sensor <classmrpt_1_1hwdrivers_1_1_c_open_n_i2_sensor.html>`__.
+class \ `mrpt::hwdrivers::OpenNI2Sensor <class_mrpt_hwdrivers_COpenNI2Sensor.html>`__.
 
 Xbox Kinect (RGB+D camera)
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 
 The C++ interface is implemented in the
-class \ `mrpt::hwdrivers::CKinect <classmrpt_1_1hwdrivers_1_1_c_kinect.html>`__.
+class \ `mrpt::hwdrivers::CKinect <class_mrpt_hwdrivers_CKinect.html>`__.
 See \ `this page <http://www.mrpt.org/Kinect_and_MRPT>`__ for more
 information, demo videos and example code.
 
@@ -50,9 +50,8 @@ SwissRanger SR3000/4000 (legacy)
    :align: right
 
 The C++ interface is implemented in the
-class \ `mrpt::hwdrivers::CSwissRanger3DCamera <classmrpt_1_1hwdrivers_1_1_c_swiss_ranger3_d_camera.html>`__.
-See the \ `page of the demo
-application <example-swissranger-sr4000-3d-camera-demo-application/>`__ for
+class \ `mrpt::hwdrivers::CSwissRanger3DCamera <class_mrpt_hwdrivers_CSwissRanger3DCamera.html>`__.
+See the \ `page of the demo application <page_hwdrivers_swissranger_example.html>`__ for
 more information and a demo video.
 
 Manufacturer: mesa-imaging
@@ -68,7 +67,7 @@ SICK LMS 2XX
    :align: right
 
 SICK LMS2XX laser scanners are supported by the
-class \ `mrpt::hwdrivers::CSickLaserSerial <classmrpt_1_1hwdrivers_1_1_c_sick_laser_serial.html>`__,
+class \ `mrpt::hwdrivers::CSickLaserSerial <class_mrpt_hwdrivers_CSickLaserSerial.html>`__,
 which supports a wide variety of configurations (different aperture
 angles, 0.25/0.50/1.0 degrees separation between rays,…) and operating
 baud rates, including 500Kbauds for the USB2SERIAL converters that allow
@@ -81,7 +80,7 @@ SICK LMS 100 (Ethernet)
    :align: right
 
 SICK LMS 100 laser scanners with Ethernet interface are supported by the
-class \ `mrpt::hwdrivers::CLMS100Eth <classmrpt_1_1hwdrivers_1_1_c_l_m_s100_eth.html>`__.
+class \ `mrpt::hwdrivers::CLMS100Eth <class_mrpt_hwdrivers_CLMS100Eth.html>`__.
 
 SICK TiM 55x/56x (Ethernet)
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
@@ -90,7 +89,7 @@ SICK TiM 55x/56x (Ethernet)
    :align: right
 
 SICK TiM laser scanners with Ethernet interface are supported by the
-class mrpt::hwdrivers::CSICKTim561Eth.
+class `mrpt::hwdrivers::CSICKTim561Eth <class_mrpt_hwdrivers_CSICKTim561Eth.html>`_.
 
 Note: Since MRPT 1.9.9.
 
@@ -101,7 +100,7 @@ Hokuyo URG/UTM/UXM
    :align: right
 
 A wide range of Hokuyo laser scanners are supported by one single class,
-the `mrpt::hwdrivers::CHokuyoURG <classmrpt_1_1hwdrivers_1_1_c_hokuyo_u_r_g.html>`__.
+the `mrpt::hwdrivers::CHokuyoURG <class_mrpt_hwdrivers_CHokuyoURG.html>`__.
 See also the example
 named `HOKUYO_laser_test <example_hokuyo_urgutm_laser_scanner.html>`__.
 
@@ -114,7 +113,7 @@ Ibeo Automotive Laser Scanners
    :align: right
 
 Ibeo LUX laser scanner, Ethernet-interfaced, is supported since MRPT
-0.9.4 through the class \ `mrpt::hwdrivers::CIbeoLuxETH <classmrpt_1_1hwdrivers_1_1_c_ibeo_lux_e_t_h.html>`__.
+0.9.4 through the class \ `mrpt::hwdrivers::CIbeoLuxETH <class_mrpt_hwdrivers_CIbeoLuxETH.html>`__.
 
 See the manufacturer website: \ http://www.ibeo-as.com/ 
 
@@ -126,7 +125,7 @@ RoboPeak RP-LIDAR laser Scanners
 
 The low-cost RP-LIDAR sensor, USB-interfaced, is supported since MRPT
 1.2.2 through the
-class \ `mrpt::hwdrivers::CRobotPeakLidar <classmrpt_1_1hwdrivers_1_1_c_robo_peak_lidar.html>`__.
+class \ `mrpt::hwdrivers::CRoboPeakLidar <class_mrpt_hwdrivers_CRoboPeakLidar.html>`__.
 
 See the manufacturer website: \ http://rplidar.robopeak.com/
 
@@ -142,24 +141,21 @@ Velodyne
 `Velodyne 3D LIDARs <https://velodynelidar.com/>`__ are supported by
 means of:
 
--  `mrpt::hwdrivers::CVelodyneScanner <classmrpt_1_1hwdrivers_1_1_c_velodyne_scanner.html>`__
--  `mrpt::obs::CObservationVelodyne <classmrpt_1_1obs_1_1_c_observation_velodyne_scan.html>`__
--  The new
-   application \ `velodyne-view <http://www.mrpt.org/list-of-mrpt-apps/application-velodyne-view/>`__
--  Visualization of datasets
-   in \ `RawLogViewer <http://www.mrpt.org/list-of-mrpt-apps/rawlogviewer/>`__
--  Grab of LiDAR scans, simultaneously to other sensors, is possible
-   via \ `rawlog-grabber <http://www.mrpt.org/list-of-mrpt-apps/application-rawlog-grabber/>`__
-
+-  `mrpt::hwdrivers::CVelodyneScanner <class_mrpt_hwdrivers_CVelodyneScanner.html>`__
+-  `mrpt::obs::CObservationVelodyne <class_mrpt_obs_CObservationVelodyneScan.html>`__
+-  :ref:`doxid-app_velodyne-view`
+-  Visualization of datasets: :ref:`app_RawLogViewer`
+-  Grabbing LiDAR scans, simultaneously to other sensors, is possible
+   via: :ref:`doxid-app_rawlog-grabber`
 
 4. Cameras
 ----------
 
-**Important: **\ MRPT provides a universal class capable of managing all
+**Important:** MRPT provides a universal class capable of managing all
 the following cameras with a common interface, deciding which camera to
 open at runtime and converting the images from all the cameras to one
 single format, the OpenCV IplImage format. See the
-class \ `mrpt::hwdrivers::CCameraSensor <classmrpt_1_1hwdrivers_1_1_c_camera_sensor.html>`__.
+class \ `mrpt::hwdrivers::CCameraSensor <class_mrpt_hwdrivers_CCameraSensor.html>`__.
 
 Monocular and stereo cameras
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
@@ -171,17 +167,17 @@ Apart from the generic CCameraSensor class, MRPT offers this
 implementation-specific classes:
 
 -  All \ **cameras supported by OpenCV** are accessible by means of the
-   class \ `mrpt::hwdrivers::CImageGrabber_OpenCV <classmrpt_1_1hwdrivers_1_1_c_image_grabber___open_c_v.html>`__.
+   class \ `mrpt::hwdrivers::CImageGrabber_OpenCV <class_mrpt_hwdrivers_CImageGrabber_OpenCV.html>`__.
 -  **Firewire cameras** are specifically supported in GNU/Linux by means
    of the libdc1394 library and the
-   class \ `mrpt::hwdrivers::CImageGrabber_dc1394 <classmrpt_1_1hwdrivers_1_1_c_image_grabber__dc1394.html>`__.
+   class \ `mrpt::hwdrivers::CImageGrabber_dc1394 <class_mrpt_hwdrivers_CImageGrabber_dc1394.html>`__.
 -  All \ **Point Grey Research (PGR) cameras** supported
    by \ `FlyCapture2 <http://www.ptgrey.com/flycapture-sdk>`__ can be
    read with the
-   class \ `mrpt::hwdrivers::CImageGrabber_FlyCapture2 <classmrpt_1_1hwdrivers_1_1_c_image_grabber___fly_capture2.html>`__ (Requires:
+   class \ `mrpt::hwdrivers::CImageGrabber_FlyCapture2 <class_mrpt_hwdrivers_CImageGrabber_FlyCapture2.html>`__ (Requires:
    MRPT 1.0.3). \ **Stereo pairs** built from two independent PGR
    cameras are supported
-   via \ `mrpt::hwdrivers::CCameraSensor <classmrpt_1_1hwdrivers_1_1_c_camera_sensor.html>`__.
+   via \ `mrpt::hwdrivers::CCameraSensor <class_mrpt_hwdrivers_CCameraSensor.html>`__.
 
 Bumblebee/Bumblebee2 Stereo cameras
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
@@ -190,15 +186,15 @@ Bumblebee stereo cameras are supported in MRPT in both Windows &
 GNU/Linux by means of the manufacturer API and the libdc1394 libraries,
 respectively. The C++ interface is the same in any case, and it’s
 implemented in the
-class\ `mrpt::hwdrivers::CStereoGrabber_Bumblebee_libdc1394 <classmrpt_1_1hwdrivers_1_1_c_stereo_grabber___bumblebee__libdc1394.html>`__.
+class\ `mrpt::hwdrivers::CStereoGrabber_Bumblebee_libdc1394 <class_mrpt_hwdrivers_CStereoGrabber_Bumblebee_libdc1394.html>`__.
 
 Videre Stereo cameras
 ~~~~~~~~~~~~~~~~~~~~~~~~~~
 
 Videre stereo cameras are supported in MRPT (since MRPT 0.9.1) for
 GNU/Linux only for now, by means of the manufacturer SVS API. The C++
 interface is implemented in the
-class \ `mrpt::hwdrivers::CStereoGrabber_SVS <classmrpt_1_1hwdrivers_1_1_c_stereo_grabber___s_v_s.html>`__.
+class \ `mrpt::hwdrivers::CStereoGrabber_SVS <class_mrpt_hwdrivers_CStereoGrabber_SVS.html>`__.
 
 IP cameras and video files
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
@@ -209,40 +205,31 @@ IP cameras and video files
 Both IP cameras and offline video files (in many common video formats
 and codecs) are supported by means of the ffmpeg libraries, within the
 MRPT
-class \ `mrpt::hwdrivers::CFFMPEG_InputStream <classmrpt_1_1hwdrivers_1_1_c_f_f_m_p_e_g___input_stream.html>`__.
+class \ `mrpt::hwdrivers::CFFMPEG_InputStream <class_mrpt_hwdrivers_CFFMPEG_InputStream.html>`__.
 
 5. Inertial Sensors (IMUs)
 ----------------------------
 
-5.1. xSens MTi Inertial Unit (IMU) – 3rd generation devices
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. image:: images/mti-150x150.jpg
-   :align: right
-
-The interface to this sensor is implemented in the
-class \ `mrpt::hwdrivers::CIMUXSens <classmrpt_1_1hwdrivers_1_1_c_i_m_u_x_sens.html>`__.
-
-5.2. xSens MTi Inertial Units (IMUs) – 4th generation devices
+5.1. xSens MTi Inertial Units (IMUs) – 4th generation devices
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 
 .. image:: images/MTi_10-series-150x150.jpg
    :align: right
 
 The interface to this sensor is implemented in the
-class \ `mrpt::hwdrivers::CIMUXSens_MT4 <classmrpt_1_1hwdrivers_1_1_c_i_m_u_x_sens___m_t4.html>`__.
+class \ `mrpt::hwdrivers::CIMUXSens_MT4 <class_mrpt_hwdrivers_CIMUXSens_MT4.html>`__.
 
 Required: MRPT 1.0.3
 
-KVH DSP3000 (Fiber Optic Gyro)
+5.2. KVH DSP3000 (Fiber Optic Gyro)
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 
 .. image:: images/KVH_dsp3000_IMU-150x150.jpg
    :align: right
 
 A precise fiber optic gyro. The interface to this sensor is implemented
 in the
-class \ `mrpt::hwdrivers::CGyroKVHDSP3000 <classmrpt_1_1hwdrivers_1_1_c_gyro_k_v_h_d_s_p3000.html>`__.
+class \ `mrpt::hwdrivers::CGyroKVHDSP3000 <class_mrpt_hwdrivers_CGyroKVHDSP3000.html>`__.
 
 See the manufacturer
 website: \ `http://www.kvh.com/…/Fiber-Optic-Gyros/DSP-3000.aspx <http://www.kvh.com/Military-and-Government/Gyros-Inertial-Systems-and-Compasses/Gyros-IMUs-and-INS/Fiber-Optic-Gyros/DSP-3000.aspx>`__ 
@@ -259,7 +246,7 @@ Parser of standard NMEA commands and Novatel binary frames
 An implementation of a parser of NMEA commands from a wide range of GPS
 devices, also capable of receiving Novatel frames (this latter feature,
 only available in MRPT 1.3.3 or newer), can be found in the
-class \ `mrpt::hwdrivers::CGPSInterface <classmrpt_1_1hwdrivers_1_1_c_g_p_s_interface.html>`__.
+class \ `mrpt::hwdrivers::CGPSInterface <class_mrpt_hwdrivers_CGPSInterface.html>`__.
 
 RTK corrections via NTRIP
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
@@ -270,22 +257,14 @@ RTK corrections via NTRIP
 You can use advanced RTK GPS receivers with MRPT. For that, MRPT
 includes a class that receives NTRIP RTK corrections from an Internet
 server and sends them to a serial port connected to the GPS receiver.
-See \ `mrpt::hwdrivers::CNTRIPEmitter <classmrpt_1_1hwdrivers_1_1_c_n_t_r_i_p_emitter.html>`__.
+See \ `mrpt::hwdrivers::CNTRIPEmitter <class_mrpt_hwdrivers_CNTRIPEmitter.html>`__.
 
 7. Activemedia robotic bases (All ARIA-compatible bases)
 --------------------------------------------------------
 
 .. image:: images/Pioneer2DX_2-150x150.jpg
    :align: right
 
-
-Access to all ARIA-based mobile robotic bases is done via the C++
-class \ `mrpt::hwdrivers::CActivMediaRobotBase <http://mrpt.ual.es/reference/1.4.0/classmrpt_1_1hwdrivers_1_1_c_activ_media_robot_base.html>`__,
-which implements basic mobility functions as well as sonars and other
-sensors. Since MRPT carries its own embedded version of ARIA, you won’t
-need any software or library previously installed in your system to use
-this class.
-
 Note: Support for these robots was dropped in MRPT 1.5.3. Use older
 versions if you need it with MRPT. Ten years ago, it might make sense to
 integrate ARIA into MRPT, but nowadays it’s probably more practical to
@@ -296,7 +275,9 @@ use ARIA ROS packages to access robots instead of directly using MRPT.
 
 An interface to this mobile robot, equipped with an IP camera, is
 implemented in the C++
-class \ `mrpt::hwdrivers::CRovio <classmrpt_1_1hwdrivers_1_1_c_rovio.html>`__.
+class ``mrpt::hwdrivers::CRovio``.
+
+Note: Deprecated and removed in MRPT 2.1.0.
 
 See the manufacturer
 web: \ http://www.wowwee.com/en/products/tech/telepresence/rovio/rovio 
@@ -309,7 +290,7 @@ web: \ http://www.wowwee.com/en/products/tech/telepresence/rovio/rovio 
 
 A cross-platform and very simple interface to joysticks is provided via
 the
-class \ `mrpt::hwdrivers::CJoystick <classmrpt_1_1hwdrivers_1_1_c_joystick.html>`__.
+class \ `mrpt::hwdrivers::CJoystick <class_mrpt_hwdrivers_CJoystick.html>`__.
 
 10. Pan and Tilt Units
 ----------------------
@@ -318,14 +299,14 @@ Direct Perception Pan-Tilt-Unit (PTU)
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 
 An interface to this PTU model is implemented in the C++
-class \ `mrpt::hwdrivers::CPtuDPerception <classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html>`__.
+class \ `mrpt::hwdrivers::CPtuDPerception <class_mrpt_hwdrivers_CPtuDPerception.html>`__.
 
 Micos Tilt-Unit
 ~~~~~~~~~~~~~~~~~~~~~
 
 An interface to the precision “rotation stage DT-80”, by MICOS. See the
 C++
-class \ `mrpt::hwdrivers::CTuMicos <classmrpt_1_1hwdrivers_1_1_c_tu_micos.html>`__.
+class \ `mrpt::hwdrivers::CTuMicos <class_mrpt_hwdrivers_CTuMicos.html>`__.
 
 See the manufacturer
 website: http://www.micos-online.com/web2/en/1,5,120,dt80.html
@@ -337,7 +318,7 @@ Impinj’s RFID Speedway Revolution Reader
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 
 This sensor is supported by the MRPT
-class \ `mrpt::hwdrivers::CImpinfRFID <classmrpt_1_1hwdrivers_1_1_c_impinj_r_f_i_d.html>`__.
+class \ `mrpt::hwdrivers::CImpinjRFID <class_mrpt_hwdrivers_CImpinjRFID.html>`__.
 Note however that this sensor requires an external program outside of
 MRPT for communications (refer to the Doxygen documentation of the C++
 class).
@@ -355,15 +336,15 @@ Phidgets boards
    :align: right
 
 Phidgets Inc.’s board “PhidgetInterfaceKit 8/8/8” is supported by
-class \ `mrpt::hwdrivers::CPhidgetInterfaceKitProximitySensors <classmrpt_1_1hwdrivers_1_1_c_phidget_interface_kit_proximity_sensors.html>`__.
+class \ `mrpt::hwdrivers::CPhidgetInterfaceKitProximitySensors <class_mrpt_hwdrivers_CPhidgetInterfaceKitProximitySensors.html>`__.
 
 Manufacturer web: \ http://www.phidgets.com/products.php?product_id=1018
 
 National Instruments boards compatible with DAQmx Base
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 
 | See
-  class: \ `mrpt::hwdrivers::CNationalInstrumentsDAQ <classmrpt_1_1hwdrivers_1_1_c_national_instruments_d_a_q.html>`__
+  class: \ `mrpt::hwdrivers::CNationalInstrumentsDAQ <class_mrpt_hwdrivers_CNationalInstrumentsDAQ.html>`__
 | Read \ `this blog
   entry <https://www.mrpt.org/NI_DAQmx_Base_in_openSUSE_64bit>`__ about
   the limitations of NI PCI/USB DAQ boards in 64bit Linux distributions.
@@ -378,7 +359,7 @@ MiniRAE Lite photoionization detector (PID)
 
 This sensor for fast detection of volatile organic compounds (VOC) is
 supported by the software driver C++
-class \ `mrpt::hwdrivers::CRaePID <classmrpt_1_1hwdrivers_1_1_c_rae_p_i_d.html>`__
+class \ `mrpt::hwdrivers::CRaePID <class_mrpt_hwdrivers_CRaePID.html>`__
 
 Manufacturer web: \ http://www.raesystems.com/products/minirae-lite
 
@@ -390,7 +371,7 @@ Gill WindSonic Wind sensor
 
 Speed and direction ultrasonic wind sensor. Supported by the software
 driver C++
-class \ `mrpt::hwdrivers::CGillAnemometer <classmrpt_1_1hwdrivers_1_1_c_gill_anemometer.html>`__ 
+class \ `mrpt::hwdrivers::CGillAnemometer <class_mrpt_hwdrivers_CGillAnemometer.html>`__ 
 
 Manufacturer
 web: \ http://gillinstruments.com/products/anemometer/windsonic.htm

libs/hwdrivers/include/mrpt/hwdrivers/CImpinjRFID.h

@@ -22,6 +22,7 @@ namespace mrpt::hwdrivers
  * connects to a program that does the actual communication with the receiver.
  * This is done because the manufacturer only provides libraries for C# and
  * Java. The program that runs the device must be started after this object
+ * \ingroup mrpt_hwdrivers_grp
  */
 class CImpinjRFID : public mrpt::hwdrivers::CGenericSensor
 {