CObservationRFID.h

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/* +---------------------------------------------------------------------------+
   |          The Mobile Robot Programming Toolkit (MRPT) C++ library          |
   |                                                                           |
   |                       http://www.mrpt.org/                                |
   |                                                                           |
   |   Copyright (C) 2005-2012  University of Malaga                           |
   |                                                                           |
   |    This software was written by the Machine Perception and Intelligent    |
   |      Robotics Lab, University of Malaga (Spain).                          |
   |    Contact: Jose-Luis Blanco  <jlblanco@ctima.uma.es>                     |
   |                                                                           |
   |  This file is part of the MRPT project.                                   |
   |                                                                           |
   |     MRPT is free software: you can redistribute it and/or modify          |
   |     it under the terms of the GNU General Public License as published by  |
   |     the Free Software Foundation, either version 3 of the License, or     |
   |     (at your option) any later version.                                   |
   |                                                                           |
   |   MRPT is distributed in the hope that it will be useful,                 |
   |     but WITHOUT ANY WARRANTY; without even the implied warranty of        |
   |     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         |
   |     GNU General Public License for more details.                          |
   |                                                                           |
   |     You should have received a copy of the GNU General Public License     |
   |     along with MRPT.  If not, see <http://www.gnu.org/licenses/>.         |
   |                                                                           |
   +---------------------------------------------------------------------------+ */
#ifndef CObservationRFID_H
#define CObservationRFID_H

#include <mrpt/utils/CSerializable.h>
#include <mrpt/slam/CObservation.h>
#include <mrpt/poses/CPose3D.h>
#include <mrpt/poses/CPose2D.h>

namespace mrpt
{
namespace slam
{
        DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE( CObservationRFID, CObservation, OBS_IMPEXP)

        /** This represents one or more RFID tags observed by a receiver.
         *
         * \sa CObservation, mrpt::hwdrivers::CImpinjRFID for a software sensor capable of reading this kind of observations.
         * \ingroup mrpt_obs_grp
         */
        class OBS_IMPEXP CObservationRFID : public CObservation
        {
                // This must be added to any CSerializable derived class:
                DEFINE_SERIALIZABLE( CObservationRFID )

         public:
                /** Constructor */
                CObservationRFID();

                 /** @name The data members
                  * @{ */
                mrpt::poses::CPose3D  sensorPoseOnRobot; //!< The location of the sensing antenna on the robot coordinate framework

        /** Each of the individual readings of a RFID tag */
        struct OBS_IMPEXP TTagReading
        {
            TTagReading() : power(-1000) {}

            double      power;  //!< The power or signal strength as sensed by the RFID receiver (in dBm)
            std::string epc; //!< EPC code of the observed tag
            std::string antennaPort; //!< Port of the antenna that did the reading
        };

        /** The vector of individual tag observations */
        std::vector<TTagReading>  tag_readings;

                inline uint32_t getNtags() const { return tag_readings.size(); }

                /** @} */

                void getSensorPose( CPose3D &out_sensorPose ) const;

                /** A general method to change the sensor pose on the robot.
                  *  It has no effects in this class
                  * \sa getSensorPose  */
                void setSensorPose( const CPose3D &newSensorPose );

        }; // End of class def.


        } // End of namespace
} // End of namespace

#endif