CObservationBeaconRanges.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/CObservationBeaconRanges.h>
#include <mrpt/system/os.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(CObservationBeaconRanges, CObservation,mrpt::obs)

/** Default constructor.
 */
CObservationBeaconRanges::CObservationBeaconRanges( ) :
        minSensorDistance ( 0 ),
        maxSensorDistance ( 1e2f ),
        stdError ( 1e-2f ),
        sensedData(),
        auxEstimatePose()
{
}

/*---------------------------------------------------------------
  Implements the writing to a CStream capability of CSerializable objects
 ---------------------------------------------------------------*/
void  CObservationBeaconRanges::writeToStream(mrpt::utils::CStream &out, int *version) const
{
        if (version)
                *version = 3;
        else
        {
                uint32_t        i,n;

                // The data
                out << minSensorDistance << maxSensorDistance << stdError;

                n = sensedData.size();
                out << n;
                for (i=0;i<n;i++)
                        out << sensedData[i].sensorLocationOnRobot << sensedData[i].sensedDistance << sensedData[i].beaconID;

                out << auxEstimatePose;

                out << sensorLabel
                        << timestamp;
        }
}

/*---------------------------------------------------------------
  Implements the reading from a CStream capability of CSerializable objects
 ---------------------------------------------------------------*/
void  CObservationBeaconRanges::readFromStream(mrpt::utils::CStream &in, int version)
{
        switch(version)
        {
        case 0:
        case 1:
        case 2:
        case 3:
                {
                        uint32_t                i,n,id;

                        // The data
                        in >> minSensorDistance >> maxSensorDistance >> stdError;

                        in >> n;
                        sensedData.resize(n);
                        for (i=0;i<n;i++)
                        {
                                in >> sensedData[i].sensorLocationOnRobot >> sensedData[i].sensedDistance;
                                in >> id; sensedData[i].beaconID = id;
                        }

                        if (version>=1)
                                in >> auxEstimatePose;

                        if (version>=2)
                                        in >> sensorLabel;
                        else    sensorLabel="";

                        if (version>=3)
                                        in >> timestamp;
                        else    timestamp = INVALID_TIMESTAMP;


                } break;
        default:
                MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)

        };

}

/*---------------------------------------------------------------
  Implements the writing to a CStream capability of CSerializable objects
 ---------------------------------------------------------------*/
void  CObservationBeaconRanges::debugPrintOut()
{
        printf("[CObservationBeaconRanges::debugPrintOut] Dumping:\n");
        printf("[CObservationBeaconRanges::debugPrintOut] minSensorDistance:\t%f\n",minSensorDistance);
        printf("[CObservationBeaconRanges::debugPrintOut] maxSensorDistance:\t%f:\n",maxSensorDistance);
        printf("[CObservationBeaconRanges::debugPrintOut] stdError:\t%f\n",stdError);
        printf("[CObservationBeaconRanges::debugPrintOut] %u ranges:\n",static_cast<unsigned>( sensedData.size() ));

        size_t          i, n = sensedData.size();
        for (i=0;i<n;i++)
                printf("[CObservationBeaconRanges::debugPrintOut] \tID[%u]: %f\n",
                sensedData[i].beaconID,
                sensedData[i].sensedDistance );
}

/*---------------------------------------------------------------
                     getSensorPose
 ---------------------------------------------------------------*/
void CObservationBeaconRanges::getSensorPose( CPose3D &out_sensorPose ) const
{
        if (!sensedData.empty())
                out_sensorPose=CPose3D(sensedData[0].sensorLocationOnRobot);
        else    out_sensorPose = CPose3D(0,0,0);
}

/*---------------------------------------------------------------
                     setSensorPose
 ---------------------------------------------------------------*/
void CObservationBeaconRanges::setSensorPose( const CPose3D &newSensorPose )
{
        size_t          i, n = sensedData.size();
        if (n)
                for (i=0;i<n;i++)
                        sensedData[i].sensorLocationOnRobot=CPoint3D(newSensorPose);
}

/*---------------------------------------------------------------
                     getSensedRangeByBeaconID
 ---------------------------------------------------------------*/
float CObservationBeaconRanges::getSensedRangeByBeaconID(int32_t beaconID)
{
        for (size_t i=0;i<sensedData.size();i++)
                if (sensedData[i].beaconID==beaconID)
                        return sensedData[i].sensedDistance;
        return 0;
}

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

        o << "Auxiliary estimated pose (if available): " << auxEstimatePose << endl;

        o << format("minSensorDistance=%f m\n",minSensorDistance);
        o << format("maxSensorDistance=%f m\n",maxSensorDistance);
        o << format("stdError=%f m\n\n",stdError);

        o << format("There are %u range measurements:\n\n",(unsigned)sensedData.size());

        o << "  BEACON   RANGE     SENSOR POSITION ON ROBOT \n";
        o << "------------------------------------------------\n";
        for (deque<CObservationBeaconRanges::TMeasurement>::const_iterator it=sensedData.begin(); it!=sensedData.end(); it++)
        {
                o << format("   %i      %.04f      (%.03f,%.03f,%.03f)\n",
                        (int)it->beaconID,it->sensedDistance,
                        it->sensorLocationOnRobot.x(),it->sensorLocationOnRobot.y(),it->sensorLocationOnRobot.z());
        }
}