CObservationIMU.cpp

Go to the documentation of this file.

/* +---------------------------------------------------------------------------+
   |                     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/CObservationIMU.h>
//#include <mrpt/math/CMatrixD.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(CObservationIMU, CObservation,mrpt::obs)

/*---------------------------------------------------------------
  Implements the writing to a CStream capability of CSerializable objects
 ---------------------------------------------------------------*/
void  CObservationIMU::writeToStream(mrpt::utils::CStream &out, int *version) const
{
        if (version)
                *version = 3;  // v1->v2 was only done to fix a bug in the ordering of YAW/PITCH/ROLL rates.
        else
        {
                out << sensorPose
                    << dataIsPresent
                    << timestamp;

                out << rawMeasurements;
                // Version 3: Added 6 new raw measurements (IMU_MAG_X=15 to IMU_TEMPERATURE=20)

                out << sensorLabel;
        }
}

/*---------------------------------------------------------------
  Implements the reading from a CStream capability of CSerializable objects
 ---------------------------------------------------------------*/
void  CObservationIMU::readFromStream(mrpt::utils::CStream &in, int version)
{
        switch(version)
        {
        case 0:
        case 1:
        case 2:
        case 3:
                in >> sensorPose;
                in >> dataIsPresent;

                in >> timestamp;

                // In version 0 it was a vector of floats:
                if (version<1)
                {
                        mrpt::math::CVectorFloat        tmp;
                        in >> tmp;
                        rawMeasurements.resize(tmp.size());
                        for (size_t i=0;i<rawMeasurements.size();i++)
                                rawMeasurements[i] = tmp[i];
                }
                else
                {
                        in >> rawMeasurements;
                }

                if (version<2)
                {
                        // A bug in the grabbing from XSens IMU's made /ROLL rates to be stored in the wrong order:
                        std::swap(rawMeasurements[IMU_YAW_VEL],rawMeasurements[IMU_ROLL_VEL]);
                }
                else
                {
                        // v2: nothing to do, data is already in the right order.
                }

                in >> sensorLabel;

                // Fill new entries with default values:
                if (dataIsPresent.size()<COUNT_IMU_DATA_FIELDS)
                {
                        const size_t nOld = dataIsPresent.size();
                        ASSERT_(rawMeasurements.size()==dataIsPresent.size());

                        dataIsPresent.resize(COUNT_IMU_DATA_FIELDS);
                        rawMeasurements.resize(COUNT_IMU_DATA_FIELDS);
                        for (size_t i=nOld;i<COUNT_IMU_DATA_FIELDS;i++) {
                                dataIsPresent[i]=false;
                                rawMeasurements[i]=0;
                        }
                }
                break;
        default:
                MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)
        };
}

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

        o << "Sensor pose on the robot: " << sensorPose << endl;

        o << format("Orientation (degrees): (yaw,pitch,roll)=(%.06f, %.06f, %.06f)\n\n",
                RAD2DEG( rawMeasurements[IMU_YAW] ),
                RAD2DEG( rawMeasurements[IMU_PITCH] ),
                RAD2DEG( rawMeasurements[IMU_ROLL] ) );

        // Units:
        // Use "COUNT_IMU_DATA_FIELDS" so a compile error happens if the sizes don't fit ;-)
        static const char * imu_units[ mrpt::obs::COUNT_IMU_DATA_FIELDS ] =
        {
                "m/s^2", //     IMU_X_ACC,
                "m/s^2", //     IMU_Y_ACC,
                "m/s^2", //     IMU_Z_ACC,
                "rad/s", //     IMU_YAW_VEL,
                "rad/s", //     IMU_PITCH_VEL,
                "rad/s", //     IMU_ROLL_VEL,
                "m/s", //       IMU_X_VEL,
                "m/s", //       IMU_Y_VEL,
                "m/s", //       IMU_Z_VEL,
                "rad", //       IMU_YAW,
                "rad", //       IMU_PITCH,
                "rad", //       IMU_ROLL,
                "m", // IMU_X,
                "m", // IMU_Y,
                "m",  //        IMU_Z
                "gauss", // IMU_MAG_X,
                "gauss", // IMU_MAG_Y,
                "gauss", // IMU_MAG_Z,
                "Pa", // IMU_PRESSURE,
                "m", // IMU_ALTITUDE,
                "deg.", // IMU_TEMPERATURE,
                "qx", // IMU_ORI_QUAT_X,
                "qy", // IMU_ORI_QUAT_Y,
                "qz", // IMU_ORI_QUAT_Z,
                "qw", // IMU_ORI_QUAT_W,
                "rad/s", //     IMU_YAW_VEL_GLOBAL
                "rad/s", //     IMU_PITCH_VEL_GLOBAL
                "rad/s", //     IMU_ROLL_VEL_GLOBAL
                "m/s^2", //     IMU_X_ACC_GLOBAL
                "m/s^2", //     IMU_Y_ACC_GLOBAL
                "m/s^2"  //     IMU_Z_ACC_GLOBAL
        };

#define DUMP_IMU_DATA(x)  \
        o << format("%15s = ",#x); \
        if (dataIsPresent[x]) \
        o << format("%10f %s\n", rawMeasurements[x], imu_units[x]); \
        else    o << "(not present)\n";

        DUMP_IMU_DATA(IMU_X_ACC)
        DUMP_IMU_DATA(IMU_Y_ACC)
        DUMP_IMU_DATA(IMU_Z_ACC)
        DUMP_IMU_DATA(IMU_YAW_VEL)
        DUMP_IMU_DATA(IMU_PITCH_VEL)
        DUMP_IMU_DATA(IMU_ROLL_VEL)
        DUMP_IMU_DATA(IMU_X_VEL)
        DUMP_IMU_DATA(IMU_Y_VEL)
        DUMP_IMU_DATA(IMU_Z_VEL)
        DUMP_IMU_DATA(IMU_YAW)
        DUMP_IMU_DATA(IMU_PITCH)
        DUMP_IMU_DATA(IMU_ROLL)
        DUMP_IMU_DATA(IMU_X)
        DUMP_IMU_DATA(IMU_Y)
        DUMP_IMU_DATA(IMU_Z)
        DUMP_IMU_DATA(IMU_MAG_X)
        DUMP_IMU_DATA(IMU_MAG_Y)
        DUMP_IMU_DATA(IMU_MAG_Z)
        DUMP_IMU_DATA(IMU_PRESSURE)
        DUMP_IMU_DATA(IMU_ALTITUDE)
        DUMP_IMU_DATA(IMU_TEMPERATURE)
        DUMP_IMU_DATA(IMU_ORI_QUAT_X)
        DUMP_IMU_DATA(IMU_ORI_QUAT_Y)
        DUMP_IMU_DATA(IMU_ORI_QUAT_Z)
        DUMP_IMU_DATA(IMU_ORI_QUAT_W)
        DUMP_IMU_DATA(IMU_YAW_VEL_GLOBAL)
        DUMP_IMU_DATA(IMU_PITCH_VEL_GLOBAL)
        DUMP_IMU_DATA(IMU_ROLL_VEL_GLOBAL)
        DUMP_IMU_DATA(IMU_X_ACC_GLOBAL)
        DUMP_IMU_DATA(IMU_Y_ACC_GLOBAL)
        DUMP_IMU_DATA(IMU_Z_ACC_GLOBAL)


}