CObservationBatteryState.h

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2014, Individual contributors, see AUTHORS file        |
   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
   | Released under BSD License. See details in http://www.mrpt.org/License    |
   +---------------------------------------------------------------------------+ */
#ifndef CObservationBatteryState_H
#define CObservationBatteryState_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( CObservationBatteryState, CObservation, OBS_IMPEXP)

        /** 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.
         *
         * \sa CObservation
         * \ingroup mrpt_obs_grp
         */
        class OBS_IMPEXP CObservationBatteryState : public CObservation
        {
                // This must be added to any CSerializable derived class:
                DEFINE_SERIALIZABLE( CObservationBatteryState )

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

                 /** The data members
                  * \sa voltageMainRobotBatteryIsValid,voltageMainRobotComputerIsValid
                  */
                double voltageMainRobotBattery, voltageMainRobotComputer;

                /** These values must be true if the corresponding fields contain valid values.
                  * \sa voltageMainRobotBattery,voltageMainRobotComputer
                  */
                bool   voltageMainRobotBatteryIsValid,voltageMainRobotComputerIsValid;

                /** The users can use this vector for any arbitrary number of batteries or any other analog measurements.
                  * \sa voltageOtherBatteriesValid
                  */
                CVectorDouble voltageOtherBatteries;

                /** These values must be true if the corresponding fields contain valid values (it MUST has the same size than voltageOtherBatteries)
                  */
                vector_bool   voltageOtherBatteriesValid;

                /** A general method to retrieve the sensor pose on the robot.
                  *  It has no effects in this class
                  * \sa setSensorPose
                  */
                void getSensorPose( CPose3D &out_sensorPose ) const { out_sensorPose=CPose3D(0,0,0); }


                /** 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 ) {
                        MRPT_UNUSED_PARAM(newSensorPose);
                }


        }; // End of class def.
        DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE( CObservationBatteryState, CObservation, OBS_IMPEXP)


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

#endif