CObservationBatteryState.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */
#pragma once

#include <mrpt/math/CVectorDynamic.h>
#include <mrpt/obs/CObservation.h>
#include <mrpt/poses/CPose2D.h>
#include <mrpt/poses/CPose3D.h>
#include <mrpt/serialization/CSerializable.h>

namespace mrpt::obs
{
/** This represents a measurement of the batteries on the robot.
 *  The battery levels are in volts in the form of the public members:
 *  - voltageMainRobotBattery
 *  - voltageMainRobotComputer
 *  - voltageOtherBatteries
 *
 *  There are boolean flags for signaling when the corresponding values have
 *been filled out or not.
 *
 * \sa CObservation
 * \ingroup mrpt_obs_grp
 */
class CObservationBatteryState : public CObservation
{
    DEFINE_SERIALIZABLE(CObservationBatteryState, mrpt::obs)

   public:
    /** Constructor
     */
    CObservationBatteryState();

    /** The data members
     * \sa voltageMainRobotBatteryIsValid,voltageMainRobotComputerIsValid
     */
    double voltageMainRobotBattery{0}, voltageMainRobotComputer{0};

    /** These values must be true if the corresponding fields contain valid
     * values.
     * \sa voltageMainRobotBattery,voltageMainRobotComputer
     */
    bool voltageMainRobotBatteryIsValid{false},
        voltageMainRobotComputerIsValid{false};

    /** The users can use this vector for any arbitrary number of batteries or
     * any other analog measurements.
     * \sa voltageOtherBatteriesValid
     */
    mrpt::math::CVectorDouble voltageOtherBatteries;

    /** These values must be true if the corresponding fields contain valid
     * values (it MUST has the same size than voltageOtherBatteries)
     */
    std::vector<bool> voltageOtherBatteriesValid;

    void getSensorPose(mrpt::poses::CPose3D& out_sensorPose)
        const override;  // See base class docs.
    void setSensorPose(const mrpt::poses::CPose3D& newSensorPose)
        override;  // See base class docs.
    void getDescriptionAsText(
        std::ostream& o) const override;  // See base class docs

};  // End of class def.

}  // namespace mrpt::obs