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CObservationBatteryState.h
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1 /* +------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | http://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file |
6  | See: http://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See details in http://www.mrpt.org/License |
8  +------------------------------------------------------------------------+ */
9 #ifndef CObservationBatteryState_H
10 #define CObservationBatteryState_H
11 
13 #include <mrpt/obs/CObservation.h>
14 #include <mrpt/poses/CPose3D.h>
15 #include <mrpt/poses/CPose2D.h>
16 
17 namespace mrpt
18 {
19 namespace obs
20 {
21 /** This represents a measurement of the batteries on the robot.
22  * The battery levels are in volts in the form of the public members:
23  * - voltageMainRobotBattery
24  * - voltageMainRobotComputer
25  * - voltageOtherBatteries
26  *
27  * There are boolean flags for signaling when the corresponding values have
28  *been filled out or not.
29  *
30  * \sa CObservation
31  * \ingroup mrpt_obs_grp
32  */
34 {
36 
37  public:
38  /** Constructor
39  */
41 
42  /** The data members
43  * \sa voltageMainRobotBatteryIsValid,voltageMainRobotComputerIsValid
44  */
46 
47  /** These values must be true if the corresponding fields contain valid
48  * values.
49  * \sa voltageMainRobotBattery,voltageMainRobotComputer
50  */
52 
53  /** The users can use this vector for any arbitrary number of batteries or
54  * any other analog measurements.
55  * \sa voltageOtherBatteriesValid
56  */
58 
59  /** These values must be true if the corresponding fields contain valid
60  * values (it MUST has the same size than voltageOtherBatteries)
61  */
62  std::vector<bool> voltageOtherBatteriesValid;
63 
64  void getSensorPose(mrpt::poses::CPose3D& out_sensorPose)
65  const override; // See base class docs.
66  void setSensorPose(const mrpt::poses::CPose3D& newSensorPose)
67  override; // See base class docs.
69  std::ostream& o) const override; // See base class docs
70 
71 }; // End of class def.
72 
73 } // End of namespace
74 } // End of namespace
75 
76 #endif
This represents a measurement of the batteries on the robot.
Column vector, like Eigen::MatrixX*, but automatically initialized to zeros since construction...
Definition: eigen_frwds.h:44
double voltageMainRobotBattery
The data members.
void setSensorPose(const mrpt::poses::CPose3D &newSensorPose) override
A general method to change the sensor pose on the robot.
void getSensorPose(mrpt::poses::CPose3D &out_sensorPose) const override
A general method to retrieve the sensor pose on the robot.
void getDescriptionAsText(std::ostream &o) const override
Build a detailed, multi-line textual description of the observation contents and dump it to the outpu...
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
Definition: CPose3D.h:88
Declares a class that represents any robot&#39;s observation.
Definition: CObservation.h:43
std::vector< bool > voltageOtherBatteriesValid
These values must be true if the corresponding fields contain valid values (it MUST has the same size...
bool voltageMainRobotBatteryIsValid
These values must be true if the corresponding fields contain valid values.
mrpt::math::CVectorDouble voltageOtherBatteries
The users can use this vector for any arbitrary number of batteries or any other analog measurements...



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