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
{
/** 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 CObservationRFID : public CObservation
{
        DEFINE_SERIALIZABLE(CObservationRFID)

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

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

        /** Each of the individual readings of a RFID tag */
        struct TTagReading
        {
                TTagReading() : power(-1000) {}
                /** The power or signal strength as sensed by the RFID receiver (in dBm)
                 */
                double power;
                /** EPC code of the observed tag */
                std::string epc;
                /** Port of the antenna that did the reading */
                std::string antennaPort;
        };

        /** 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 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) override;
        // See base class docs
        void getDescriptionAsText(std::ostream& o) const override;

};  // End of class def.

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

#endif