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CObservationBatteryState.h

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00001 /* +---------------------------------------------------------------------------+
00002    |          The Mobile Robot Programming Toolkit (MRPT) C++ library          |
00003    |                                                                           |
00004    |                   http://mrpt.sourceforge.net/                            |
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          */
00052         class OBS_IMPEXP CObservationBatteryState : public CObservation
00053         {
00054                 // This must be added to any CSerializable derived class:
00055                 DEFINE_SERIALIZABLE( CObservationBatteryState )
00056 
00057          public:
00058                 /** Constructor
00059                  */
00060                 CObservationBatteryState( );
00061 
00062                  /** The data members
00063                   * \sa voltageMainRobotBatteryIsValid,voltageMainRobotComputerIsValid
00064                   */
00065                 double voltageMainRobotBattery, voltageMainRobotComputer;
00066 
00067                 /** These values must be true if the corresponding fields contain valid values.
00068                   * \sa voltageMainRobotBattery,voltageMainRobotComputer
00069                   */
00070                 bool   voltageMainRobotBatteryIsValid,voltageMainRobotComputerIsValid;
00071 
00072                 /** The users can use this vector for any arbitrary number of batteries or any other analog measurements.
00073                   * \sa voltageOtherBatteriesValid
00074                   */
00075                 vector_double voltageOtherBatteries;
00076 
00077                 /** These values must be true if the corresponding fields contain valid values (it MUST has the same size than voltageOtherBatteries)
00078                   */
00079                 vector_bool   voltageOtherBatteriesValid;
00080 
00081                 /** A general method to retrieve the sensor pose on the robot.
00082                   *  It has no effects in this class
00083                   * \sa setSensorPose
00084                   */
00085                 void getSensorPose( CPose3D &out_sensorPose ) const { out_sensorPose=CPose3D(0,0,0); }
00086 
00087 
00088                 /** A general method to change the sensor pose on the robot.
00089                   *  It has no effects in this class
00090                   * \sa getSensorPose
00091                   */
00092                 void setSensorPose( const CPose3D &newSensorPose ) {  }
00093 
00094 
00095         }; // End of class def.
00096 
00097 
00098         } // End of namespace
00099 } // End of namespace
00100 
00101 #endif



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