obs/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
{
        DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE( CObservationWirelessPower, CObservation, OBS_IMPEXP)

        /** 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 OBS_IMPEXP CObservationWirelessPower : public CObservation
        {
                // This must be added to any CSerializable derived class:
                DEFINE_SERIALIZABLE( CObservationWirelessPower )

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

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

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

                /** @} */

                void getSensorPose( mrpt::poses::CPose3D &out_sensorPose ) const MRPT_OVERRIDE;// See base class docs
                void setSensorPose( const mrpt::poses::CPose3D &newSensorPose ) MRPT_OVERRIDE;// See base class docs
                void getDescriptionAsText(std::ostream &o) const MRPT_OVERRIDE;// See base class docs

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


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

#endif