CObservationWirelessPower.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
#ifndef CObservationWirelessPower_H
#define CObservationWirelessPower_H

#include <mrpt/utils/CSerializable.h>
#include <mrpt/obs/CObservation.h>
#include <mrpt/poses/CPose3D.h>
#include <mrpt/poses/CPose2D.h>

namespace mrpt
{
namespace obs
{
/** This represents a measurement of the wireless strength perceived by the
 * robot.
 *  The signal level is given as a percentage.
 *
 * \sa CObservation, mrpt::hwdrivers::CWirelessPower for a software sensor
 * capable of reading this kind of observations.
 * \ingroup mrpt_obs_grp
 */
class CObservationWirelessPower : public CObservation
{
        DEFINE_SERIALIZABLE(CObservationWirelessPower)

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

        /** @name The data members
         * @{ */

        /** The power or signal strength as sensed by the Wifi receiver (In
         * percentage: [0-100]) */
        double power;
        /** The location of the sensing antenna on the robot coordinate framework */
        mrpt::poses::CPose3D sensorPoseOnRobot;

        /** @} */

        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.

}  // End of namespace
}  // End of namespace

#endif