CObservationWindSensor.h

Go to the documentation of this file.

/* +---------------------------------------------------------------------------+
   |                     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 CObservationWindSensor_H
#define CObservationWindSensor_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( CObservationWindSensor, CObservation, OBS_IMPEXP)

        /** Declares a class derived from "CObservation" that represents the wind measurements taken on the robot by an anemometer.
         * The observation is composed by two magnitudes:
         * wind speed (m/s)
         * wind direction (deg)
         *
         * \sa CObservation
         * \ingroup mrpt_obs_grp
         */
        class OBS_IMPEXP CObservationWindSensor : public CObservation
        {
                // This must be added to any CSerializable derived class:
                DEFINE_SERIALIZABLE( CObservationWindSensor )

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

                 /** @name The data members
                  * @{ */

                double speed;           //!< The wind speed in m/s
                double direction;       //!< The wind flow direction in deg
                mrpt::poses::CPose3D  sensorPoseOnRobot; //!< The location of the sensing anemometer on the robot coordinate framework

                /** @} */

                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.
        DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE( CObservationWindSensor, CObservation, OBS_IMPEXP)


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

#endif