MRPT  1.9.9
CObservationBatteryState.h
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1 /* +------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | https://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2019, Individual contributors, see AUTHORS file |
6  | See: https://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See: https://www.mrpt.org/License |
8  +------------------------------------------------------------------------+ */
9 #pragma once
10 
12 #include <mrpt/obs/CObservation.h>
13 #include <mrpt/poses/CPose2D.h>
14 #include <mrpt/poses/CPose3D.h>
16 
17 namespace mrpt::obs
18 {
19 /** This represents a measurement of the batteries on the robot.
20  * The battery levels are in volts in the form of the public members:
21  * - voltageMainRobotBattery
22  * - voltageMainRobotComputer
23  * - voltageOtherBatteries
24  *
25  * There are boolean flags for signaling when the corresponding values have
26  *been filled out or not.
27  *
28  * \sa CObservation
29  * \ingroup mrpt_obs_grp
30  */
32 {
34 
35  public:
36  /** Constructor
37  */
39 
40  /** The data members
41  * \sa voltageMainRobotBatteryIsValid,voltageMainRobotComputerIsValid
42  */
44 
45  /** These values must be true if the corresponding fields contain valid
46  * values.
47  * \sa voltageMainRobotBattery,voltageMainRobotComputer
48  */
51 
52  /** The users can use this vector for any arbitrary number of batteries or
53  * any other analog measurements.
54  * \sa voltageOtherBatteriesValid
55  */
57 
58  /** These values must be true if the corresponding fields contain valid
59  * values (it MUST has the same size than voltageOtherBatteries)
60  */
61  std::vector<bool> voltageOtherBatteriesValid;
62 
63  void getSensorPose(mrpt::poses::CPose3D& out_sensorPose)
64  const override; // See base class docs.
65  void setSensorPose(const mrpt::poses::CPose3D& newSensorPose)
66  override; // See base class docs.
68  std::ostream& o) const override; // See base class docs
69 
70 }; // End of class def.
71 
72 } // namespace mrpt::obs
This represents a measurement of the batteries on the robot.
double voltageMainRobotBattery
The data members.
void setSensorPose(const mrpt::poses::CPose3D &newSensorPose) override
A general method to change the sensor pose on the robot.
void getSensorPose(mrpt::poses::CPose3D &out_sensorPose) const override
A general method to retrieve the sensor pose on the robot.
void getDescriptionAsText(std::ostream &o) const override
Build a detailed, multi-line textual description of the observation contents and dump it to the outpu...
This namespace contains representation of robot actions and observations.
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
Definition: CPose3D.h:85
Declares a class that represents any robot&#39;s observation.
Definition: CObservation.h:43
#define DEFINE_SERIALIZABLE(class_name, NS)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
std::vector< bool > voltageOtherBatteriesValid
These values must be true if the corresponding fields contain valid values (it MUST has the same size...
bool voltageMainRobotBatteryIsValid
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...



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