00001 /* +---------------------------------------------------------------------------+ 00002 | The Mobile Robot Programming Toolkit (MRPT) C++ library | 00003 | | 00004 | http://www.mrpt.org/ | 00005 | | 00006 | Copyright (C) 2005-2011 University of Malaga | 00007 | | 00008 | This software was written by the Machine Perception and Intelligent | 00009 | Robotics Lab, University of Malaga (Spain). | 00010 | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> | 00011 | | 00012 | This file is part of the MRPT project. | 00013 | | 00014 | MRPT is free software: you can redistribute it and/or modify | 00015 | it under the terms of the GNU General Public License as published by | 00016 | the Free Software Foundation, either version 3 of the License, or | 00017 | (at your option) any later version. | 00018 | | 00019 | MRPT is distributed in the hope that it will be useful, | 00020 | but WITHOUT ANY WARRANTY; without even the implied warranty of | 00021 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | 00022 | GNU General Public License for more details. | 00023 | | 00024 | You should have received a copy of the GNU General Public License | 00025 | along with MRPT. If not, see <http://www.gnu.org/licenses/>. | 00026 | | 00027 +---------------------------------------------------------------------------+ */ 00028 #ifndef CObservationBatteryState_H 00029 #define CObservationBatteryState_H 00030 00031 #include <mrpt/utils/CSerializable.h> 00032 #include <mrpt/slam/CObservation.h> 00033 #include <mrpt/poses/CPose3D.h> 00034 #include <mrpt/poses/CPose2D.h> 00035 00036 namespace mrpt 00037 { 00038 namespace slam 00039 { 00040 DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE( CObservationBatteryState, CObservation, OBS_IMPEXP) 00041 00042 /** This represents a measurement of the batteries on the robot. 00043 * The battery levels are in volts in the form of the public members: 00044 * - voltageMainRobotBattery 00045 * - voltageMainRobotComputer 00046 * - voltageOtherBatteries 00047 * 00048 * There are boolean flags for signaling when the corresponding values have been filled out or not. 00049 * 00050 * \sa CObservation 00051 * \ingroup mrpt_obs_grp 00052 */ 00053 class OBS_IMPEXP CObservationBatteryState : public CObservation 00054 { 00055 // This must be added to any CSerializable derived class: 00056 DEFINE_SERIALIZABLE( CObservationBatteryState ) 00057 00058 public: 00059 /** Constructor 00060 */ 00061 CObservationBatteryState( ); 00062 00063 /** The data members 00064 * \sa voltageMainRobotBatteryIsValid,voltageMainRobotComputerIsValid 00065 */ 00066 double voltageMainRobotBattery, voltageMainRobotComputer; 00067 00068 /** These values must be true if the corresponding fields contain valid values. 00069 * \sa voltageMainRobotBattery,voltageMainRobotComputer 00070 */ 00071 bool voltageMainRobotBatteryIsValid,voltageMainRobotComputerIsValid; 00072 00073 /** The users can use this vector for any arbitrary number of batteries or any other analog measurements. 00074 * \sa voltageOtherBatteriesValid 00075 */ 00076 vector_double voltageOtherBatteries; 00077 00078 /** These values must be true if the corresponding fields contain valid values (it MUST has the same size than voltageOtherBatteries) 00079 */ 00080 vector_bool voltageOtherBatteriesValid; 00081 00082 /** A general method to retrieve the sensor pose on the robot. 00083 * It has no effects in this class 00084 * \sa setSensorPose 00085 */ 00086 void getSensorPose( CPose3D &out_sensorPose ) const { out_sensorPose=CPose3D(0,0,0); } 00087 00088 00089 /** A general method to change the sensor pose on the robot. 00090 * It has no effects in this class 00091 * \sa getSensorPose 00092 */ 00093 void setSensorPose( const CPose3D &newSensorPose ) { } 00094 00095 00096 }; // End of class def. 00097 00098 00099 } // End of namespace 00100 } // End of namespace 00101 00102 #endif
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