MRPT  1.9.9
CObservationWindSensor.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 
10 #pragma once
11 
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 /** Declares a class derived from "CObservation" that represents the wind
20  * measurements taken on the robot by an anemometer.
21  * The observation is composed by two magnitudes:
22  * wind speed (m/s)
23  * wind direction (deg)
24  *
25  * \sa CObservation
26  * \ingroup mrpt_obs_grp
27  */
29 {
31 
32  public:
33  /** @name The data members
34  * @{ */
35 
36  /** The wind speed in m/s */
37  double speed{.0};
38  /** The wind flow direction in deg */
39  double direction{.0};
40  /** The location of the sensing anemometer on the robot coordinate framework
41  */
43 
44  /** @} */
45 
46  // See base class docs
47  void getSensorPose(mrpt::poses::CPose3D& out_sensorPose) const override;
48  void setSensorPose(const mrpt::poses::CPose3D& newSensorPose) override;
49  void getDescriptionAsText(std::ostream& o) const override;
50 
51 }; // End of class def.
52 
53 } // namespace mrpt::obs
void getDescriptionAsText(std::ostream &o) const override
Build a detailed, multi-line textual description of the observation contents and dump it to the outpu...
void getSensorPose(mrpt::poses::CPose3D &out_sensorPose) const override
A general method to retrieve the sensor pose on the robot.
double direction
The wind flow direction in deg.
double speed
The wind speed in m/s.
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...
void setSensorPose(const mrpt::poses::CPose3D &newSensorPose) override
A general method to change the sensor pose on the robot.
mrpt::poses::CPose3D sensorPoseOnRobot
The location of the sensing anemometer on the robot coordinate framework.
Declares a class derived from "CObservation" that represents the wind measurements taken on the robot...



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