Detailed Description

This represents a measurement of the batteries on the robot.

The battery levels are in volts in the form of the public members:

voltageMainRobotBattery
voltageMainRobotComputer

voltageOtherBatteries

There are boolean flags for signaling when the corresponding values have been filled out or not.

See also:: CObservation

#include <mrpt/slam/CObservationBatteryState.h>

Inheritance diagram for mrpt::slam::CObservationBatteryState:

[legend]

List of all members.

Public Member Functions
	CObservationBatteryState ()
	Constructor.
void	getSensorPose (CPose3D &out_sensorPose) const
	A general method to retrieve the sensor pose on the robot.
void	setSensorPose (const CPose3D &newSensorPose)
	A general method to change the sensor pose on the robot.
template<class METRICMAP >
bool	insertObservationInto (METRICMAP theMap, const CPose3D robotPose=NULL) const
	This method is equivalent to:
void	getSensorPose (mrpt::math::TPose3D &out_sensorPose) const
	A general method to retrieve the sensor pose on the robot.
void	setSensorPose (const mrpt::math::TPose3D &newSensorPose)
	A general method to change the sensor pose on the robot.
mrpt::utils::CObjectPtr	duplicateGetSmartPtr () const
	Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer).
CObject *	clone () const
	Cloning interface for smart pointers.
Delayed-load manual control methods.
virtual void	load () const
	Makes sure all images and other fields which may be externally stored are loaded in memory.
virtual void	unload ()
	Unload all images, for the case they being delayed-load images stored in external files (othewise, has no effect).
Public Attributes
double	voltageMainRobotBattery
	The data members.
double	voltageMainRobotComputer
bool	voltageMainRobotBatteryIsValid
	These values must be true if the corresponding fields contain valid values.
bool	voltageMainRobotComputerIsValid
vector_double	voltageOtherBatteries
	The users can use this vector for any arbitrary number of batteries or any other analog measurements.
vector_bool	voltageOtherBatteriesValid
	These values must be true if the corresponding fields contain valid values (it MUST has the same size than voltageOtherBatteries)
Data common to any observation
mrpt::system::TTimeStamp	timestamp
	The associated time-stamp.
std::string	sensorLabel
	An arbitrary label that can be used to identify the sensor.
Static Public Attributes
static const mrpt::utils::TRuntimeClassId	classCObject
RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCSerializable
Protected Member Functions
void	swap (CObservation &o)
	Swap with another observation, ONLY the data defined here in the base class CObservation. It's protected since it'll be only called from child classes that should know what else to swap appart from these common data.
virtual void	writeToStream (mrpt::utils::CStream &out, int *getVersion) const =0
	Introduces a pure virtual method responsible for writing to a CStream.
virtual void	readFromStream (mrpt::utils::CStream &in, int version)=0
	Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.
RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCObservation
class	mrpt::utils::CStream
RTTI stuff
typedef CObservationBatteryStatePtr	SmartPtr
static mrpt::utils::CLASSINIT	_init_CObservationBatteryState
static mrpt::utils::TRuntimeClassId	classCObservationBatteryState
static const mrpt::utils::TRuntimeClassId *	classinfo
static const mrpt::utils::TRuntimeClassId *	_GetBaseClass ()
virtual const mrpt::utils::TRuntimeClassId *	GetRuntimeClass () const
	Returns information about the class of an object in runtime.
virtual mrpt::utils::CObject *	duplicate () const
	Returns a copy of the object, indepently of its class.
static mrpt::utils::CObject *	CreateObject ()
static CObservationBatteryStatePtr	Create ()

Member Typedef Documentation

typedef CObservationBatteryStatePtr mrpt::slam::CObservationBatteryState::SmartPtr

A typedef for the associated smart pointer

Definition at line 56 of file CObservationBatteryState.h.

Constructor & Destructor Documentation

mrpt::slam::CObservationBatteryState::CObservationBatteryState ( )

Constructor.

Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::slam::CObservationBatteryState::_GetBaseClass ( ) [static, protected]

Reimplemented from mrpt::slam::CObservation.

CObject* mrpt::utils::CObject::clone ( ) const [inline, inherited]

Cloning interface for smart pointers.

Reimplemented in mrpt::opengl::CRenderizable, and mrpt::opengl::CRenderizableDisplayList.

Definition at line 154 of file CObject.h.

static CObservationBatteryStatePtr mrpt::slam::CObservationBatteryState::Create ( ) [static]

static mrpt::utils::CObject* mrpt::slam::CObservationBatteryState::CreateObject ( ) [static]

virtual mrpt::utils::CObject* mrpt::slam::CObservationBatteryState::duplicate ( ) const [virtual]

Returns a copy of the object, indepently of its class.

Implements mrpt::utils::CObject.

mrpt::utils::CObjectPtr mrpt::utils::CObject::duplicateGetSmartPtr ( ) const [inline, inherited]

Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer).

Definition at line 151 of file CObject.h.

virtual const mrpt::utils::TRuntimeClassId* mrpt::slam::CObservationBatteryState::GetRuntimeClass ( ) const [virtual]

Returns information about the class of an object in runtime.

Reimplemented from mrpt::slam::CObservation.

void mrpt::slam::CObservationBatteryState::getSensorPose ( CPose3D & out_sensorPose ) const [inline, virtual]

A general method to retrieve the sensor pose on the robot.

It has no effects in this class

See also:: setSensorPose

Implements mrpt::slam::CObservation.

Definition at line 86 of file CObservationBatteryState.h.

void mrpt::slam::CObservation::getSensorPose ( mrpt::math::TPose3D & out_sensorPose ) const [inherited]

A general method to retrieve the sensor pose on the robot.

Note that most sensors will return a full (6D) CPose3D, but see the derived classes for more details or special cases.

See also:: setSensorPose

template<class METRICMAP >

bool mrpt::slam::CObservation::insertObservationInto	(	METRICMAP *	theMap,
		const CPose3D *	robotPose = `NULL`
	)		const `[inline, inherited]`

This method is equivalent to:

                map->insertObservation(this, robotPose)

Parameters:

theMap	The map where this observation is to be inserted: the map will be updated.
robotPose	The pose of the robot base for this observation, relative to the target metric map. Set to NULL (default) to use (0,0,0deg)

Returns:: Returns true if the map has been updated, or false if this observations has nothing to do with a metric map (for example, a sound observation).

See also:: CMetricMap, CMetricMap::insertObservation

Definition at line 122 of file CObservation.h.

virtual void mrpt::slam::CObservation::load ( ) const [inline, virtual, inherited]

Makes sure all images and other fields which may be externally stored are loaded in memory.

Note that for all CImages, calling load() is not required since the images will be automatically loaded upon first access, so load() shouldn't be needed to be called in normal cases by the user. If all the data were alredy loaded or this object has no externally stored data fields, calling this method has no effects.

See also:: unload

Reimplemented in mrpt::slam::CObservation3DRangeScan.

Definition at line 159 of file CObservation.h.

virtual void mrpt::utils::CSerializable::readFromStream	(	mrpt::utils::CStream &	in,
		int	version
	)		`[protected, pure virtual, inherited]`

Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.

Parameters:

in	The input binary stream where the object data must read from.
version	The version of the object stored in the stream: use this version number in your code to know how to read the incoming data.

Exceptions:

std::exception On any error, see CStream::ReadBuffer

See also:: CStream

Implemented in mrpt::math::CMatrixD, and mrpt::math::CMatrix.

void mrpt::slam::CObservationBatteryState::setSensorPose ( const CPose3D & newSensorPose ) [inline, virtual]

A general method to change the sensor pose on the robot.

It has no effects in this class

See also:: getSensorPose

Implements mrpt::slam::CObservation.

Definition at line 93 of file CObservationBatteryState.h.

void mrpt::slam::CObservation::setSensorPose ( const mrpt::math::TPose3D & newSensorPose ) [inherited]

A general method to change the sensor pose on the robot.

Note that most sensors will use the full (6D) CPose3D, but see the derived classes for more details or special cases.

See also:: getSensorPose

void mrpt::slam::CObservation::swap ( CObservation & o ) [protected, inherited]

Swap with another observation, ONLY the data defined here in the base class CObservation. It's protected since it'll be only called from child classes that should know what else to swap appart from these common data.

virtual void mrpt::slam::CObservation::unload ( ) [inline, virtual, inherited]

Unload all images, for the case they being delayed-load images stored in external files (othewise, has no effect).

See also:: load

Reimplemented in mrpt::slam::CObservation3DRangeScan.

Definition at line 163 of file CObservation.h.

virtual void mrpt::utils::CSerializable::writeToStream	(	mrpt::utils::CStream &	out,
		int *	getVersion
	)		const `[protected, pure virtual, inherited]`

Introduces a pure virtual method responsible for writing to a CStream.

This can not be used directly be users, instead use "stream << object;" for writing it to a stream.

Parameters:

out	The output binary stream where object must be dumped.
getVersion	If NULL, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data.

Exceptions:

std::exception On any error, see CStream::WriteBuffer