class mrpt::obs::CObservationBatteryState¶

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.

See also:

#include <mrpt/obs/CObservationBatteryState.h>

class CObservationBatteryState: public mrpt::obs::CObservation
{
public:
    //
fields

    double voltageMainRobotBattery {0};
    double voltageMainRobotComputer {0};
    bool voltageMainRobotBatteryIsValid {false};
    bool voltageMainRobotComputerIsValid {false};
    mrpt::math::CVectorDouble voltageOtherBatteries;
    std::vector<bool> voltageOtherBatteriesValid;

    //
methods

    virtual void getSensorPose(mrpt::poses::CPose3D& out_sensorPose) const;
    virtual void setSensorPose(const mrpt::poses::CPose3D& newSensorPose);
    virtual void getDescriptionAsText(std::ostream& o) const;
};

Inherited Members¶

public:
    //
fields

    mrpt::system::TTimeStamp timestamp {mrpt::system::now()};
    std::string sensorLabel;

    //
methods

    mrpt::system::TTimeStamp getTimeStamp() const;
    virtual mrpt::system::TTimeStamp getOriginalReceivedTimeStamp() const;
    virtual void load() const;
    virtual void unload();

    template <class METRICMAP>
    bool insertObservationInto(
        METRICMAP* theMap,
        const mrpt::poses::CPose3D* robotPose = nullptr
        ) const;

    virtual void getSensorPose(mrpt::poses::CPose3D& out_sensorPose) const = 0;
    void getSensorPose(mrpt::math::TPose3D& out_sensorPose) const;
    virtual void setSensorPose(const mrpt::poses::CPose3D& newSensorPose) = 0;
    void setSensorPose(const mrpt::math::TPose3D& newSensorPose);
    virtual void getDescriptionAsText(std::ostream& o) const;
    std::string getDescriptionAsTextValue() const;

Fields¶

double voltageMainRobotBattery {0}

The data members.

bool voltageMainRobotBatteryIsValid {false}

These values must be true if the corresponding fields contain valid values.

mrpt::math::CVectorDouble voltageOtherBatteries

The users can use this vector for any arbitrary number of batteries or any other analog measurements.

See also:

voltageOtherBatteriesValid

std::vector<bool> voltageOtherBatteriesValid

These values must be true if the corresponding fields contain valid values (it MUST has the same size than voltageOtherBatteries)

Methods¶

virtual void getSensorPose(mrpt::poses::CPose3D& out_sensorPose) const

A general method to retrieve the sensor pose on the robot.

Note that most sensors will return a full (6D) CPose3D, but see the derived classes for more details or special cases.

See also:

setSensorPose

virtual void setSensorPose(const mrpt::poses::CPose3D& newSensorPose)

A general method to change the sensor pose on the robot.

Note that most sensors will use the full (6D) CPose3D, but see the derived classes for more details or special cases.

See also:

getSensorPose

virtual void getDescriptionAsText(std::ostream& o) const

Build a detailed, multi-line textual description of the observation contents and dump it to the output stream.

If overried by derived classes, call base CObservation::getDescriptionAsText() first to show common information.

This is the text that appears in RawLogViewer when selecting an object in the dataset