CObservationWindSensor.h

Go to the documentation of this file.

/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

#pragma once

#include <mrpt/obs/CObservation.h>
#include <mrpt/poses/CPose2D.h>
#include <mrpt/poses/CPose3D.h>
#include <mrpt/serialization/CSerializable.h>

namespace mrpt::obs
{
/** Declares a class derived from "CObservation" that represents the wind
 * measurements taken on the robot by an anemometer.
 * The observation is composed by two magnitudes:
 * wind speed (m/s)
 * wind direction (deg)
 *
 * \sa CObservation
 * \ingroup mrpt_obs_grp
 */
class CObservationWindSensor : public CObservation
{
    DEFINE_SERIALIZABLE(CObservationWindSensor, mrpt::obs)

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

    /** The wind speed in m/s */
    double speed{.0};
    /** The wind flow direction in deg */
    double direction{.0};
    /** The location of the sensing anemometer on the robot coordinate framework
     */
    mrpt::poses::CPose3D sensorPoseOnRobot;

    /** @} */

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

};  // End of class def.

}  // namespace mrpt::obs