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CObservationRFID.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 CObservationRFID_H
10 #define CObservationRFID_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 one or more RFID tags observed by a receiver.
22  *
23  * \sa CObservation, mrpt::hwdrivers::CImpinjRFID for a software sensor capable
24  * of reading this kind of observations.
25  * \ingroup mrpt_obs_grp
26  */
28 {
30 
31  public:
32  /** Constructor */
34 
35  /** @name The data members
36  * @{ */
37  /** The location of the sensing antenna on the robot coordinate framework */
39 
40  /** Each of the individual readings of a RFID tag */
41  struct TTagReading
42  {
43  TTagReading() : power(-1000) {}
44  /** The power or signal strength as sensed by the RFID receiver (in dBm)
45  */
46  double power;
47  /** EPC code of the observed tag */
49  /** Port of the antenna that did the reading */
51  };
52 
53  /** The vector of individual tag observations */
54  std::vector<TTagReading> tag_readings;
55 
56  inline uint32_t getNtags() const { return tag_readings.size(); }
57  /** @} */
58 
59  void getSensorPose(mrpt::poses::CPose3D& out_sensorPose) const override;
60  /** A general method to change the sensor pose on the robot.
61  * It has no effects in this class
62  * \sa getSensorPose */
63  void setSensorPose(const mrpt::poses::CPose3D& newSensorPose) override;
64  // See base class docs
65  void getDescriptionAsText(std::ostream& o) const override;
66 
67 }; // End of class def.
68 
69 } // End of namespace
70 } // End of namespace
71 
72 #endif
std::string antennaPort
Port of the antenna that did the reading.
void getSensorPose(mrpt::poses::CPose3D &out_sensorPose) const override
A general method to retrieve the sensor pose on the robot.
void setSensorPose(const mrpt::poses::CPose3D &newSensorPose) override
A general method to change the sensor pose on the robot.
mrpt::poses::CPose3D sensorPoseOnRobot
The location of the sensing antenna on the robot coordinate framework.
std::string epc
EPC code of the observed tag.
double power
The power or signal strength as sensed by the RFID receiver (in dBm)
GLsizei const GLchar ** string
Definition: glext.h:4101
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< TTagReading > tag_readings
The vector of individual tag observations.
Each of the individual readings of a RFID tag.
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 represents one or more RFID tags observed by a receiver.
unsigned __int32 uint32_t
Definition: rptypes.h:47



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