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<h1>CObservationBatteryState.h</h1> </div>
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<a href="_c_observation_battery_state_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* +---------------------------------------------------------------------------+</span>
<a name="l00002"></a>00002 <span class="comment"> | The Mobile Robot Programming Toolkit (MRPT) C++ library |</span>
<a name="l00003"></a>00003 <span class="comment"> | |</span>
<a name="l00004"></a>00004 <span class="comment"> | http://mrpt.sourceforge.net/ |</span>
<a name="l00005"></a>00005 <span class="comment"> | |</span>
<a name="l00006"></a>00006 <span class="comment"> | Copyright (C) 2005-2011 University of Malaga |</span>
<a name="l00007"></a>00007 <span class="comment"> | |</span>
<a name="l00008"></a>00008 <span class="comment"> | This software was written by the Machine Perception and Intelligent |</span>
<a name="l00009"></a>00009 <span class="comment"> | Robotics Lab, University of Malaga (Spain). |</span>
<a name="l00010"></a>00010 <span class="comment"> | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |</span>
<a name="l00011"></a>00011 <span class="comment"> | |</span>
<a name="l00012"></a>00012 <span class="comment"> | This file is part of the MRPT project. |</span>
<a name="l00013"></a>00013 <span class="comment"> | |</span>
<a name="l00014"></a>00014 <span class="comment"> | MRPT is free software: you can redistribute it and/or modify |</span>
<a name="l00015"></a>00015 <span class="comment"> | it under the terms of the GNU General Public License as published by |</span>
<a name="l00016"></a>00016 <span class="comment"> | the Free Software Foundation, either version 3 of the License, or |</span>
<a name="l00017"></a>00017 <span class="comment"> | (at your option) any later version. |</span>
<a name="l00018"></a>00018 <span class="comment"> | |</span>
<a name="l00019"></a>00019 <span class="comment"> | MRPT is distributed in the hope that it will be useful, |</span>
<a name="l00020"></a>00020 <span class="comment"> | but WITHOUT ANY WARRANTY; without even the implied warranty of |</span>
<a name="l00021"></a>00021 <span class="comment"> | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |</span>
<a name="l00022"></a>00022 <span class="comment"> | GNU General Public License for more details. |</span>
<a name="l00023"></a>00023 <span class="comment"> | |</span>
<a name="l00024"></a>00024 <span class="comment"> | You should have received a copy of the GNU General Public License |</span>
<a name="l00025"></a>00025 <span class="comment"> | along with MRPT. If not, see <http://www.gnu.org/licenses/>. |</span>
<a name="l00026"></a>00026 <span class="comment"> | |</span>
<a name="l00027"></a>00027 <span class="comment"> +---------------------------------------------------------------------------+ */</span>
<a name="l00028"></a>00028 <span class="preprocessor">#ifndef CObservationBatteryState_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define CObservationBatteryState_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span>
<a name="l00031"></a>00031 <span class="preprocessor">#include <<a class="code" href="_c_serializable_8h.html">mrpt/utils/CSerializable.h</a>></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="_c_observation_8h.html">mrpt/slam/CObservation.h</a>></span>
<a name="l00033"></a>00033 <span class="preprocessor">#include <<a class="code" href="_c_pose3_d_8h.html">mrpt/poses/CPose3D.h</a>></span>
<a name="l00034"></a>00034 <span class="preprocessor">#include <<a class="code" href="_c_pose2_d_8h.html">mrpt/poses/CPose2D.h</a>></span>
<a name="l00035"></a>00035
<a name="l00036"></a>00036 <span class="keyword">namespace </span>mrpt
<a name="l00037"></a>00037 {
<a name="l00038"></a>00038 <span class="keyword">namespace </span>slam
<a name="l00039"></a>00039 {
<a name="l00040"></a><a class="code" href="structmrpt_1_1slam_1_1_c_observation_battery_state_ptr.html#a9e9bfa99134dedc320c41cb4f47e759a">00040</a> <a class="code" href="_c_serializable_8h.html#a9ef523d787f6cb837a0585b790882588" title="This declaration must be inserted in all CSerializable classes definition, before the class declarati...">DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE</a>( <a class="code" href="classmrpt_1_1slam_1_1_c_observation_battery_state.html" title="This represents a measurement of the batteries on the robot.">CObservationBatteryState</a>, <a class="code" href="classmrpt_1_1slam_1_1_c_observation.html" title="Declares a class that represents any robot&#39;s observation.">CObservation</a>, <a class="code" href="obs_2include_2mrpt_2obs_2link__pragmas_8h.html#ae8bb1b2647c58d6ae2eb30ca31fcf5a1">OBS_IMPEXP</a>)
<a name="l00041"></a>00041
<a name="l00042"></a>00042 <span class="comment">/** This represents a measurement of the batteries on the robot.</span>
<a name="l00043"></a>00043 <span class="comment"> * The battery levels are in volts in the form of the public members:</span>
<a name="l00044"></a>00044 <span class="comment"> * - voltageMainRobotBattery</span>
<a name="l00045"></a>00045 <span class="comment"> * - voltageMainRobotComputer</span>
<a name="l00046"></a>00046 <span class="comment"> * - voltageOtherBatteries</span>
<a name="l00047"></a>00047 <span class="comment"> *</span>
<a name="l00048"></a>00048 <span class="comment"> * There are boolean flags for signaling when the corresponding values have been filled out or not.</span>
<a name="l00049"></a>00049 <span class="comment"> *</span>
<a name="l00050"></a>00050 <span class="comment"> * \sa CObservation</span>
<a name="l00051"></a>00051 <span class="comment"> */</span>
<a name="l00052"></a><a class="code" href="classmrpt_1_1slam_1_1_c_observation_battery_state.html">00052</a> class <a class="code" href="obs_2include_2mrpt_2obs_2link__pragmas_8h.html#ae8bb1b2647c58d6ae2eb30ca31fcf5a1">OBS_IMPEXP</a> <a class="code" href="classmrpt_1_1slam_1_1_c_observation_battery_state.html" title="This represents a measurement of the batteries on the robot.">CObservationBatteryState</a> : public <a class="code" href="classmrpt_1_1slam_1_1_c_observation.html" title="Declares a class that represents any robot&#39;s observation.">CObservation</a>
<a name="l00053"></a>00053 {
<a name="l00054"></a>00054 <span class="comment">// This must be added to any CSerializable derived class:</span>
<a name="l00055"></a><a class="code" href="classmrpt_1_1slam_1_1_c_observation_battery_state.html#a3403cdf654291e2dcc85715c075d5091">00055</a> <a class="code" href="_c_serializable_8h.html#a72ab55bf7ae009c89b75715cfa21e84d" title="This declaration must be inserted in all CSerializable classes definition, within the class declarati...">DEFINE_SERIALIZABLE</a>( <a class="code" href="classmrpt_1_1slam_1_1_c_observation_battery_state.html" title="This represents a measurement of the batteries on the robot.">CObservationBatteryState</a> )
<a name="l00056"></a>00056
<a name="l00057"></a>00057 public:<span class="comment"></span>
<a name="l00058"></a>00058 <span class="comment"> /** Constructor</span>
<a name="l00059"></a>00059 <span class="comment"> */</span>
<a name="l00060"></a>00060 <a class="code" href="classmrpt_1_1slam_1_1_c_observation_battery_state.html" title="This represents a measurement of the batteries on the robot.">CObservationBatteryState</a>( );
<a name="l00061"></a>00061 <span class="comment"></span>
<a name="l00062"></a>00062 <span class="comment"> /** The data members</span>
<a name="l00063"></a>00063 <span class="comment"> * \sa voltageMainRobotBatteryIsValid,voltageMainRobotComputerIsValid</span>
<a name="l00064"></a>00064 <span class="comment"> */</span>
<a name="l00065"></a><a class="code" href="classmrpt_1_1slam_1_1_c_observation_battery_state.html#a87f2c5d67be5851af6a9d6379dfa5a31">00065</a> <span class="keywordtype">double</span> voltageMainRobotBattery, voltageMainRobotComputer;
<a name="l00066"></a>00066 <span class="comment"></span>
<a name="l00067"></a>00067 <span class="comment"> /** These values must be true if the corresponding fields contain valid values.</span>
<a name="l00068"></a>00068 <span class="comment"> * \sa voltageMainRobotBattery,voltageMainRobotComputer</span>
<a name="l00069"></a>00069 <span class="comment"> */</span>
<a name="l00070"></a><a class="code" href="classmrpt_1_1slam_1_1_c_observation_battery_state.html#ad95196cd362cb33ebb2611875c14bba2">00070</a> <span class="keywordtype">bool</span> voltageMainRobotBatteryIsValid,voltageMainRobotComputerIsValid;
<a name="l00071"></a>00071 <span class="comment"></span>
<a name="l00072"></a>00072 <span class="comment"> /** The users can use this vector for any arbitrary number of batteries or any other analog measurements.</span>
<a name="l00073"></a>00073 <span class="comment"> * \sa voltageOtherBatteriesValid</span>
<a name="l00074"></a>00074 <span class="comment"> */</span>
<a name="l00075"></a><a class="code" href="classmrpt_1_1slam_1_1_c_observation_battery_state.html#a962128c22cd334eff9e28fc9f995c995">00075</a> <a class="code" href="structmrpt_1_1dynamicsize__vector.html">vector_double</a> voltageOtherBatteries;
<a name="l00076"></a>00076 <span class="comment"></span>
<a name="l00077"></a>00077 <span class="comment"> /** These values must be true if the corresponding fields contain valid values (it MUST has the same size than voltageOtherBatteries)</span>
<a name="l00078"></a>00078 <span class="comment"> */</span>
<a name="l00079"></a><a class="code" href="classmrpt_1_1slam_1_1_c_observation_battery_state.html#a82a57e18c722a42a50a07234d60ab195">00079</a> <a class="code" href="namespacemrpt.html#a9fdb3cc3f73c5190fa022f858efbe6b1" title="A type for passing a vector of bools.">vector_bool</a> voltageOtherBatteriesValid;
<a name="l00080"></a>00080 <span class="comment"></span>
<a name="l00081"></a>00081 <span class="comment"> /** A general method to retrieve the sensor pose on the robot.</span>
<a name="l00082"></a>00082 <span class="comment"> * It has no effects in this class</span>
<a name="l00083"></a>00083 <span class="comment"> * \sa setSensorPose</span>
<a name="l00084"></a>00084 <span class="comment"> */</span>
<a name="l00085"></a><a class="code" href="classmrpt_1_1slam_1_1_c_observation_battery_state.html#a344f5aff9162effb083c53f3264cfcbf">00085</a> <span class="keywordtype">void</span> getSensorPose( <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d.html" title="A class used to store a 3D pose (a 3D translation + a rotation in 3D).">CPose3D</a> &out_sensorPose )<span class="keyword"> const </span>{ out_sensorPose=<a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d.html" title="A class used to store a 3D pose (a 3D translation + a rotation in 3D).">CPose3D</a>(0,0,0); }
<a name="l00086"></a>00086
<a name="l00087"></a>00087 <span class="comment"></span>
<a name="l00088"></a>00088 <span class="comment"> /** A general method to change the sensor pose on the robot.</span>
<a name="l00089"></a>00089 <span class="comment"> * It has no effects in this class</span>
<a name="l00090"></a>00090 <span class="comment"> * \sa getSensorPose</span>
<a name="l00091"></a>00091 <span class="comment"> */</span>
<a name="l00092"></a><a class="code" href="classmrpt_1_1slam_1_1_c_observation_battery_state.html#a3bbb110e7ef094675cbf359b3ca8cc51">00092</a> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1slam_1_1_c_observation_battery_state.html#a3bbb110e7ef094675cbf359b3ca8cc51" title="A general method to change the sensor pose on the robot.">setSensorPose</a>( <span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d.html" title="A class used to store a 3D pose (a 3D translation + a rotation in 3D).">CPose3D</a> &newSensorPose ) { }
<a name="l00093"></a>00093
<a name="l00094"></a>00094
<a name="l00095"></a>00095 }; <span class="comment">// End of class def.</span>
<a name="l00096"></a>00096
<a name="l00097"></a>00097
<a name="l00098"></a>00098 } <span class="comment">// End of namespace</span>
<a name="l00099"></a>00099 } <span class="comment">// End of namespace</span>
<a name="l00100"></a>00100
<a name="l00101"></a>00101 <span class="preprocessor">#endif</span>
</pre></div></div>
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