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obs/CObservationBatteryState.h
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1/* +---------------------------------------------------------------------------+
2 | Mobile Robot Programming Toolkit (MRPT) |
3 | http://www.mrpt.org/ |
4 | |
5 | Copyright (c) 2005-2016, 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
14#include <mrpt/poses/CPose3D.h>
15#include <mrpt/poses/CPose2D.h>
16
17namespace mrpt
18{
19namespace obs
20{
22
23 /** This represents a measurement of the batteries on the robot.
24 * The battery levels are in volts in the form of the public members:
25 * - voltageMainRobotBattery
26 * - voltageMainRobotComputer
27 * - voltageOtherBatteries
28 *
29 * There are boolean flags for signaling when the corresponding values have been filled out or not.
30 *
31 * \sa CObservation
32 * \ingroup mrpt_obs_grp
33 */
35 {
36 // This must be added to any CSerializable derived class:
38
39 public:
40 /** Constructor
41 */
43
44 /** The data members
45 * \sa voltageMainRobotBatteryIsValid,voltageMainRobotComputerIsValid
46 */
47 double voltageMainRobotBattery, voltageMainRobotComputer;
48
49 /** These values must be true if the corresponding fields contain valid values.
50 * \sa voltageMainRobotBattery,voltageMainRobotComputer
51 */
52 bool voltageMainRobotBatteryIsValid,voltageMainRobotComputerIsValid;
53
54 /** The users can use this vector for any arbitrary number of batteries or any other analog measurements.
55 * \sa voltageOtherBatteriesValid
56 */
58
59 /** These values must be true if the corresponding fields contain valid values (it MUST has the same size than voltageOtherBatteries)
60 */
62
63 void getSensorPose( mrpt::poses::CPose3D &out_sensorPose ) const MRPT_OVERRIDE;// See base class docs.
64 void setSensorPose( const mrpt::poses::CPose3D &newSensorPose ) MRPT_OVERRIDE;// See base class docs.
65 void getDescriptionAsText(std::ostream &o) const MRPT_OVERRIDE;// See base class docs
66
67 }; // End of class def.
69
70
71 } // End of namespace
72} // End of namespace
73
74#endif
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
#define DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
This declaration must be inserted in all CSerializable classes definition, before the class declarati...
Column vector, like Eigen::MatrixX*, but automatically initialized to zeros since construction.
Definition: types_math.h:65
This represents a measurement of the batteries on the robot.
mrpt::math::CVectorDouble voltageOtherBatteries
The users can use this vector for any arbitrary number of batteries or any other analog measurements.
void setSensorPose(const mrpt::poses::CPose3D &newSensorPose) MRPT_OVERRIDE
A general method to change the sensor pose on the robot.
void getDescriptionAsText(std::ostream &o) const MRPT_OVERRIDE
Build a detailed, multi-line textual description of the observation contents and dump it to the outpu...
bool voltageMainRobotBatteryIsValid
These values must be true if the corresponding fields contain valid values.
vector_bool voltageOtherBatteriesValid
These values must be true if the corresponding fields contain valid values (it MUST has the same size...
void getSensorPose(mrpt::poses::CPose3D &out_sensorPose) const MRPT_OVERRIDE
A general method to retrieve the sensor pose on the robot.
Declares a class that represents any robot's observation.
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
Definition: CPose3D.h:73
std::vector< bool > vector_bool
A type for passing a vector of bools.
Definition: types_simple.h:29
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
Definition: mrpt_macros.h:28
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.



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