Class CObservationBatteryState

Inheritance Relationships

Base Type

Class Documentation

class CObservationBatteryState : public mrpt::obs::CObservation

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.

See also

CObservation

Public Functions

CObservationBatteryState()

Constructor

virtual void getSensorPose(mrpt::poses::CPose3D &out_sensorPose) const override

A general method to retrieve the sensor pose on the robot. Note that most sensors will return a full (6D) CPose3D, but see the derived classes for more details or special cases.

See also

setSensorPose

virtual void setSensorPose(const mrpt::poses::CPose3D &newSensorPose) override

A general method to change the sensor pose on the robot. Note that most sensors will use the full (6D) CPose3D, but see the derived classes for more details or special cases.

See also

getSensorPose

virtual void getDescriptionAsText(std::ostream &o) const override

Build a detailed, multi-line textual description of the observation contents and dump it to the output stream.

Note

If overried by derived classes, call base CObservation::getDescriptionAsText() first to show common information.

Note

This is the text that appears in RawLogViewer when selecting an object in the dataset

inline virtual bool exportTxtSupported() const override

Must return true if the class is exportable to TXT/CSV files, in which case the other virtual methods in this group must be redefined too.

virtual std::string exportTxtHeader() const override

Returns the description of the data columns. Timestamp is automatically included as the first column, do not list it. See example implementations if interested in enabling this in custom CObservation classes. Do not include newlines.

virtual std::string exportTxtDataRow() const override

Returns one row of data with the data stored in this particular object. Do not include newlines.

Public Members

double voltageMainRobotBattery = {0}

The data members

See also

voltageMainRobotBatteryIsValid,voltageMainRobotComputerIsValid

double voltageMainRobotComputer = {0}
bool voltageMainRobotBatteryIsValid = {false}

These values must be true if the corresponding fields contain valid values.

See also

voltageMainRobotBattery,voltageMainRobotComputer

bool voltageMainRobotComputerIsValid = {false}
mrpt::math::CVectorDouble voltageOtherBatteries

The users can use this vector for any arbitrary number of batteries or any other analog measurements.

See also

voltageOtherBatteriesValid

std::vector<bool> voltageOtherBatteriesValid

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