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CObservationWindSensor.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 
10 #ifndef CObservationWindSensor_H
11 #define CObservationWindSensor_H
12 
14 #include <mrpt/obs/CObservation.h>
15 #include <mrpt/poses/CPose3D.h>
16 #include <mrpt/poses/CPose2D.h>
17 
18 namespace mrpt
19 {
20 namespace obs
21 {
22 /** Declares a class derived from "CObservation" that represents the wind
23  * measurements taken on the robot by an anemometer.
24  * The observation is composed by two magnitudes:
25  * wind speed (m/s)
26  * wind direction (deg)
27  *
28  * \sa CObservation
29  * \ingroup mrpt_obs_grp
30  */
32 {
34 
35  public:
36  /** @name The data members
37  * @{ */
38 
39  /** The wind speed in m/s */
40  double speed{.0};
41  /** The wind flow direction in deg */
42  double direction{.0};
43  /** The location of the sensing anemometer on the robot coordinate framework
44  */
46 
47  /** @} */
48 
49  // See base class docs
50  void getSensorPose(mrpt::poses::CPose3D& out_sensorPose) const override;
51  void setSensorPose(const mrpt::poses::CPose3D& newSensorPose) override;
52  void getDescriptionAsText(std::ostream& o) const override;
53 
54 }; // End of class def.
55 
56 } // End of namespace
57 } // End of namespace
58 
59 #endif
void getDescriptionAsText(std::ostream &o) const override
Build a detailed, multi-line textual description of the observation contents and dump it to the outpu...
void getSensorPose(mrpt::poses::CPose3D &out_sensorPose) const override
A general method to retrieve the sensor pose on the robot.
double direction
The wind flow direction in deg.
double speed
The wind speed in m/s.
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
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 anemometer on the robot coordinate framework.
Declares a class derived from "CObservation" that represents the wind measurements taken on the robot...



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