Class CObservationRFID

Nested Relationships

Nested Types

Inheritance Relationships

Base Type

Class Documentation

class CObservationRFID : public mrpt::obs::CObservation

This represents one or more RFID tags observed by a receiver.

See also

CObservation, mrpt::hwdrivers::CImpinjRFID for a software sensor capable of reading this kind of observations.

The data members

mrpt::poses::CPose3D sensorPoseOnRobot

The location of the sensing antenna on the robot coordinate framework

std::vector<TTagReading> tag_readings

The vector of individual tag observations

inline uint32_t getNtags() const

Public Functions

CObservationRFID()

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. It has no effects in this class

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

struct TTagReading

Each of the individual readings of a RFID tag

Public Functions

TTagReading() = default

Public Members

double power = {-1000}

The power or signal strength as sensed by the RFID receiver (in dBm)

std::string epc

EPC code of the observed tag

std::string antennaPort

Port of the antenna that did the reading