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obs/CObservationWindSensor.h
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1/* +---------------------------------------------------------------------------+
2 | Mobile Robot Programming Toolkit (MRPT) |
3 | http://www.mrpt.org/ |
4 | |
5 | Copyright (c) 2005-2016, Individual contributors, see AUTHORS file |
6 | See: http://www.mrpt.org/Authors - All rights reserved. |
7 | Released under BSD License. See details in http://www.mrpt.org/License |
8 +---------------------------------------------------------------------------+ */
9
10#ifndef CObservationWindSensor_H
11#define CObservationWindSensor_H
12
15#include <mrpt/poses/CPose3D.h>
16#include <mrpt/poses/CPose2D.h>
17
18namespace mrpt
19{
20namespace obs
21{
23
24 /** Declares a class derived from "CObservation" that represents the wind measurements taken on the robot by an anemometer.
25 * The observation is composed by two magnitudes:
26 * wind speed (m/s)
27 * wind direction (deg)
28 *
29 * \sa CObservation
30 * \ingroup mrpt_obs_grp
31 */
33 {
34 // This must be added to any CSerializable derived class:
36
37 public:
38 /** Constructor */
40
41 /** @name The data members
42 * @{ */
43
44 double speed; //!< The wind speed in m/s
45 double direction; //!< The wind flow direction in deg
46 mrpt::poses::CPose3D sensorPoseOnRobot; //!< The location of the sensing anemometer on the robot coordinate framework
47
48 /** @} */
49
50 // See base class docs
51 void getSensorPose( mrpt::poses::CPose3D &out_sensorPose ) const MRPT_OVERRIDE;
52 void setSensorPose( const mrpt::poses::CPose3D &newSensorPose ) MRPT_OVERRIDE;
53 void getDescriptionAsText(std::ostream &o) const MRPT_OVERRIDE;
54
55 }; // End of class def.
57
58
59 } // End of namespace
60} // End of namespace
61
62#endif
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
#define DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
This declaration must be inserted in all CSerializable classes definition, before the class declarati...
Declares a class that represents any robot's observation.
Declares a class derived from "CObservation" that represents the wind measurements taken on the robot...
mrpt::poses::CPose3D sensorPoseOnRobot
The location of the sensing anemometer on the robot coordinate framework.
void getSensorPose(mrpt::poses::CPose3D &out_sensorPose) const MRPT_OVERRIDE
A general method to retrieve the sensor pose on the robot.
void setSensorPose(const mrpt::poses::CPose3D &newSensorPose) MRPT_OVERRIDE
A general method to change the sensor pose on the robot.
void getDescriptionAsText(std::ostream &o) const MRPT_OVERRIDE
Build a detailed, multi-line textual description of the observation contents and dump it to the outpu...
double direction
The wind flow direction in deg.
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
Definition: CPose3D.h:73
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
Definition: mrpt_macros.h:28
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.



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