CObservationReflectivity.cpp

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2017, 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    |
   +---------------------------------------------------------------------------+ */

#include "obs-precomp.h"   // Precompiled headers

#include <mrpt/obs/CObservationReflectivity.h>
#include <mrpt/utils/CStream.h>

using namespace mrpt::obs;
using namespace mrpt::utils;
using namespace mrpt::poses;

// This must be added to any CSerializable class implementation file.
IMPLEMENTS_SERIALIZABLE(CObservationReflectivity, CObservation,mrpt::obs)


/** Default constructor.
 */
CObservationReflectivity::CObservationReflectivity( ) :
        reflectivityLevel ( 0.5f ),
        sensorPose(),
        sensorStdNoise( 0.2f )
{
}

CObservationReflectivity::~CObservationReflectivity()
{
}

/*---------------------------------------------------------------
  Implements the writing to a CStream capability of CSerializable objects
 ---------------------------------------------------------------*/
void  CObservationReflectivity::writeToStream(mrpt::utils::CStream &out, int *version) const
{
        if (version)
                *version = 0;
        else
        {
                out << reflectivityLevel << sensorPose;
                out << sensorLabel
                        << timestamp;
        }
}

/*---------------------------------------------------------------
  Implements the reading from a CStream capability of CSerializable objects
 ---------------------------------------------------------------*/
void  CObservationReflectivity::readFromStream(mrpt::utils::CStream &in, int version)
{
        switch(version)
        {
        case 0:
                {
                        in >> reflectivityLevel >> sensorPose;
                        in >> sensorLabel
                           >> timestamp;
                } break;
        default:
                MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)
        };
}

void CObservationReflectivity::getDescriptionAsText(std::ostream &o) const
{
        CObservation::getDescriptionAsText(o);

}