class mrpt::obs::CObservationBatteryState

Overview

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;

    // construction

    CObservationBatteryState();

    // 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;
    virtual bool exportTxtSupported() const;
    virtual std::string exportTxtHeader() const;
    virtual std::string exportTxtDataRow() 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;
    void load() const;
    virtual void unload() const;
    virtual bool exportTxtSupported() const;
    virtual std::string exportTxtHeader() const;
    virtual std::string exportTxtDataRow() const;

    template <class METRICMAP>
    bool insertObservationInto(
        METRICMAP& theMap,
        const std::optional<const mrpt::poses::CPose3D>& robotPose = std::nullopt
        ) const;

    virtual void getSensorPose(mrpt::poses::CPose3D& out_sensorPose) const = 0;
    void getSensorPose(mrpt::math::TPose3D& out_sensorPose) const;
    mrpt::math::TPose3D 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;
    virtual std::string asString() 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)

Construction

CObservationBatteryState()

Constructor.

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

virtual bool exportTxtSupported() const

Must return true if the class is exportable to TXT/CSV files, in which case the other virtual methods in this group must be redefined too.

virtual std::string exportTxtHeader() const

Returns the description of the data columns.

Timestamp is automatically included as the first column, do not list it. See example implementations if interested in enabling this in custom CObservation classes. Do not include newlines.

virtual std::string exportTxtDataRow() const

Returns one row of data with the data stored in this particular object.

Do not include newlines.