CObservationBatteryState.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 CObservationBatteryState_H
#define CObservationBatteryState_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
{
/** This represents a measurement of the batteries on the robot.
 *  The battery levels are in volts in the form of the public members:
 *      - voltageMainRobotBattery
 *      - voltageMainRobotComputer
 *  - voltageOtherBatteries
 *
 *  There are boolean flags for signaling when the corresponding values have
 *been filled out or not.
 *
 * \sa CObservation
 * \ingroup mrpt_obs_grp
 */
class CObservationBatteryState : public CObservation
{
        DEFINE_SERIALIZABLE(CObservationBatteryState)

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

        /** The data members
         * \sa voltageMainRobotBatteryIsValid,voltageMainRobotComputerIsValid
         */
        double voltageMainRobotBattery, voltageMainRobotComputer;

        /** These values must be true if the corresponding fields contain valid
         * values.
          * \sa voltageMainRobotBattery,voltageMainRobotComputer
          */
        bool voltageMainRobotBatteryIsValid, voltageMainRobotComputerIsValid;

        /** The users can use this vector for any arbitrary number of batteries or
         * any other analog measurements.
          * \sa voltageOtherBatteriesValid
          */
        mrpt::math::CVectorDouble voltageOtherBatteries;

        /** These values must be true if the corresponding fields contain valid
         * values (it MUST has the same size than voltageOtherBatteries)
          */
        vector_bool voltageOtherBatteriesValid;

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

};  // End of class def.

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

#endif