obs/CObservationRFID.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 CObservationRFID_H
#define CObservationRFID_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
{
        DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE( CObservationRFID, CObservation, OBS_IMPEXP)

        /** This represents one or more RFID tags observed by a receiver.
         *
         * \sa CObservation, mrpt::hwdrivers::CImpinjRFID for a software sensor capable of reading this kind of observations.
         * \ingroup mrpt_obs_grp
         */
        class OBS_IMPEXP CObservationRFID : public CObservation
        {
                // This must be added to any CSerializable derived class:
                DEFINE_SERIALIZABLE( CObservationRFID )

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

                 /** @name The data members
                  * @{ */
                mrpt::poses::CPose3D  sensorPoseOnRobot; //!< The location of the sensing antenna on the robot coordinate framework

        /** Each of the individual readings of a RFID tag */
        struct OBS_IMPEXP TTagReading
        {
            TTagReading() : power(-1000) {}

            double      power;  //!< The power or signal strength as sensed by the RFID receiver (in dBm)
            std::string epc; //!< EPC code of the observed tag
            std::string antennaPort; //!< Port of the antenna that did the reading
        };

        /** The vector of individual tag observations */
        std::vector<TTagReading>  tag_readings;

                inline uint32_t getNtags() const { return tag_readings.size(); }

                /** @} */

                void getSensorPose( mrpt::poses::CPose3D &out_sensorPose ) const MRPT_OVERRIDE;
                /** A general method to change the sensor pose on the robot.
                  *  It has no effects in this class
                  * \sa getSensorPose  */
                void setSensorPose( const mrpt::poses::CPose3D &newSensorPose ) MRPT_OVERRIDE;
                // See base class docs
                void getDescriptionAsText(std::ostream &o) const MRPT_OVERRIDE;

        }; // End of class def.
        DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE( CObservationRFID, CObservation, OBS_IMPEXP)


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

#endif