Main MRPT website > C++ reference
MRPT logo
CObservationBatteryState.h
Go to the documentation of this file.
1 /* +---------------------------------------------------------------------------+
2  | The Mobile Robot Programming Toolkit (MRPT) C++ library |
3  | |
4  | http://www.mrpt.org/ |
5  | |
6  | Copyright (C) 2005-2012 University of Malaga |
7  | |
8  | This software was written by the Machine Perception and Intelligent |
9  | Robotics Lab, University of Malaga (Spain). |
10  | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |
11  | |
12  | This file is part of the MRPT project. |
13  | |
14  | MRPT is free software: you can redistribute it and/or modify |
15  | it under the terms of the GNU General Public License as published by |
16  | the Free Software Foundation, either version 3 of the License, or |
17  | (at your option) any later version. |
18  | |
19  | MRPT is distributed in the hope that it will be useful, |
20  | but WITHOUT ANY WARRANTY; without even the implied warranty of |
21  | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
22  | GNU General Public License for more details. |
23  | |
24  | You should have received a copy of the GNU General Public License |
25  | along with MRPT. If not, see <http://www.gnu.org/licenses/>. |
26  | |
27  +---------------------------------------------------------------------------+ */
28 #ifndef CObservationBatteryState_H
29 #define CObservationBatteryState_H
30 
31 #include <mrpt/utils/CSerializable.h>
32 #include <mrpt/slam/CObservation.h>
33 #include <mrpt/poses/CPose3D.h>
34 #include <mrpt/poses/CPose2D.h>
35 
36 namespace mrpt
37 {
38 namespace slam
39 {
40  DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE( CObservationBatteryState, CObservation, OBS_IMPEXP)
41 
42  /** This represents a measurement of the batteries on the robot.
43  * The battery levels are in volts in the form of the public members:
44  * - voltageMainRobotBattery
45  * - voltageMainRobotComputer
46  * - voltageOtherBatteries
47  *
48  * There are boolean flags for signaling when the corresponding values have been filled out or not.
49  *
50  * \sa CObservation
51  * \ingroup mrpt_obs_grp
52  */
53  class OBS_IMPEXP CObservationBatteryState : public CObservation
54  {
55  // This must be added to any CSerializable derived class:
56  DEFINE_SERIALIZABLE( CObservationBatteryState )
57 
58  public:
59  /** Constructor
60  */
61  CObservationBatteryState( );
62 
63  /** The data members
64  * \sa voltageMainRobotBatteryIsValid,voltageMainRobotComputerIsValid
65  */
66  double voltageMainRobotBattery, voltageMainRobotComputer;
67 
68  /** These values must be true if the corresponding fields contain valid values.
69  * \sa voltageMainRobotBattery,voltageMainRobotComputer
70  */
71  bool voltageMainRobotBatteryIsValid,voltageMainRobotComputerIsValid;
72 
73  /** The users can use this vector for any arbitrary number of batteries or any other analog measurements.
74  * \sa voltageOtherBatteriesValid
75  */
76  vector_double voltageOtherBatteries;
77 
78  /** These values must be true if the corresponding fields contain valid values (it MUST has the same size than voltageOtherBatteries)
79  */
80  vector_bool voltageOtherBatteriesValid;
81 
82  /** A general method to retrieve the sensor pose on the robot.
83  * It has no effects in this class
84  * \sa setSensorPose
85  */
86  void getSensorPose( CPose3D &out_sensorPose ) const { out_sensorPose=CPose3D(0,0,0); }
87 
88 
89  /** A general method to change the sensor pose on the robot.
90  * It has no effects in this class
91  * \sa getSensorPose
92  */
93  void setSensorPose( const CPose3D &newSensorPose ) { }
94 
95 
96  }; // End of class def.
97 
98 
99  } // End of namespace
100 } // End of namespace
101 
102 #endif


Page generated by Doxygen 1.8.3 for MRPT 0.9.6 SVN: at Fri Feb 15 22:05:02 EST 2013