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obs/CObservationWindSensor.h
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1 /* +---------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | http://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file |
6  | See: http://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See details in http://www.mrpt.org/License |
8  +---------------------------------------------------------------------------+ */
9 
10 #ifndef CObservationWindSensor_H
11 #define CObservationWindSensor_H
12 
14 #include <mrpt/obs/CObservation.h>
15 #include <mrpt/poses/CPose3D.h>
16 #include <mrpt/poses/CPose2D.h>
17 
18 namespace mrpt
19 {
20 namespace obs
21 {
22  DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE( CObservationWindSensor, CObservation, OBS_IMPEXP)
23 
24  /** Declares a class derived from "CObservation" that represents the wind measurements taken on the robot by an anemometer.
25  * The observation is composed by two magnitudes:
26  * wind speed (m/s)
27  * wind direction (deg)
28  *
29  * \sa CObservation
30  * \ingroup mrpt_obs_grp
31  */
33  {
34  // This must be added to any CSerializable derived class:
36 
37  public:
38  /** Constructor */
40 
41  /** @name The data members
42  * @{ */
43 
44  double speed; //!< The wind speed in m/s
45  double direction; //!< The wind flow direction in deg
46  mrpt::poses::CPose3D sensorPoseOnRobot; //!< The location of the sensing anemometer on the robot coordinate framework
47 
48  /** @} */
49 
50  // See base class docs
51  void getSensorPose( mrpt::poses::CPose3D &out_sensorPose ) const MRPT_OVERRIDE;
52  void setSensorPose( const mrpt::poses::CPose3D &newSensorPose ) MRPT_OVERRIDE;
53  void getDescriptionAsText(std::ostream &o) const MRPT_OVERRIDE;
54 
55  }; // End of class def.
56  DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE( CObservationWindSensor, CObservation, OBS_IMPEXP)
57 
58 
59  } // End of namespace
60 } // End of namespace
61 
62 #endif
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
#define DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
This declaration must be inserted in all CSerializable classes definition, before the class declarati...
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
Declares a class that represents any robot's observation.
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
Declares a class derived from "CObservation" that represents the wind measurements taken on the robot...



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