CObservation6DFeatures.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/utils/CStream.h>
#include <mrpt/obs/CObservation6DFeatures.h>
#include <mrpt/system/os.h>
#include <mrpt/math/matrix_serialization.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(CObservation6DFeatures, CObservation,mrpt::obs)

/** Default constructor */
CObservation6DFeatures::CObservation6DFeatures( ) :
        minSensorDistance ( 0 ),
        maxSensorDistance ( 1e6f )
{
}

CObservation6DFeatures::TMeasurement::TMeasurement() :
        id(INVALID_LANDMARK_ID)
{
}


/*---------------------------------------------------------------
  Implements the writing to a CStream capability of CSerializable objects
 ---------------------------------------------------------------*/
void  CObservation6DFeatures::writeToStream(mrpt::utils::CStream &out, int *version) const
{
        if (version)
                *version = 0;
        else
        {
                out << minSensorDistance << maxSensorDistance << sensorPose;

                const uint32_t n = sensedFeatures.size();
                out << n;
                for (uint32_t i=0;i<n;i++) 
                {
                        const TMeasurement & m = sensedFeatures[i];
                        out << m.pose << m.id << m.inf_matrix;
                }

                out << sensorLabel
                        << timestamp;
        }
}

/*---------------------------------------------------------------
  Implements the reading from a CStream capability of CSerializable objects
 ---------------------------------------------------------------*/
void  CObservation6DFeatures::readFromStream(mrpt::utils::CStream &in, int version)
{
        switch(version)
        {
        case 0:
                {
                        in >> minSensorDistance >> maxSensorDistance >> sensorPose;

                        uint32_t n;
                        in >> n;
                        sensedFeatures.clear();
                        sensedFeatures.resize(n);
                        for (uint32_t i=0;i<n;i++) 
                        {
                                TMeasurement & m = sensedFeatures[i];
                                in >> m.pose >> m.id >> m.inf_matrix;
                        }

                        in >> sensorLabel
                           >> timestamp;
                } break;
        default:
                MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)
        };

}

void CObservation6DFeatures::getSensorPose( CPose3D &out_sensorPose ) const 
{ 
        out_sensorPose = sensorPose; 
}

void CObservation6DFeatures::setSensorPose( const CPose3D &newSensorPose ) 
{ 
        sensorPose = newSensorPose; 
}

void CObservation6DFeatures::getDescriptionAsText(std::ostream &o) const
{
        using namespace std;
        CObservation::getDescriptionAsText(o);

        o << "Sensor pose: " << sensorPose << endl;
        o << "Min range  : " << minSensorDistance << endl;
        o << "Max range  : " << maxSensorDistance << endl << endl;

        o << "Observation count : " << sensedFeatures.size() << endl << endl;

        for (size_t k=0;k<sensedFeatures.size();k++)
        {
                const CObservation6DFeatures::TMeasurement & m = sensedFeatures[k];
                o << "#" << k << ": ID=" << m.id << "; value=" << m.pose << "; inf=" <<m.inf_matrix.inMatlabFormat() << endl;
        }
}