CObservationRange.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/CObservationRange.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(CObservationRange, CObservation,mrpt::obs)


/** Default constructor.
 */
CObservationRange::CObservationRange( ) :
        minSensorDistance       ( 0 ),
        maxSensorDistance       ( 5 ),
        sensorConeApperture     ( DEG2RAD(20) ),
        sensedData()
{
}

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

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

                n = sensedData.size();
                out << n;
                for (i=0;i<n;i++)
                        out << sensedData[i].sensorID << CPose3D(sensedData[i].sensorPose) << sensedData[i].sensedDistance;

                out << sensorLabel
                        << timestamp;
        }
}

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

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

                        in >> n;
                        sensedData.resize(n);
                        CPose3D aux;
                        for (i=0;i<n;i++)
                        {
                                if (version>=3)
                                                in >> sensedData[i].sensorID;
                                else    sensedData[i].sensorID = i;

                                in >> aux >> sensedData[i].sensedDistance;
                                sensedData[i].sensorPose = aux;
                        }

                        if (version>=1)
                                in >> sensorLabel;
                        else sensorLabel = "";

                        if (version>=2)
                                        in >> timestamp;
                        else    timestamp = INVALID_TIMESTAMP;
                } break;
        default:
                MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)

        };

}

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

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


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

        o << "minSensorDistance   = " << minSensorDistance << " m" << endl;
        o << "maxSensorDistance   = " << maxSensorDistance << " m" << endl;
        o << "sensorConeApperture = " << RAD2DEG(sensorConeApperture) << " deg" << endl;

        // For each entry in this sequence:
        o << "  SENSOR_ID    RANGE (m)    SENSOR POSE (on the robot)" << endl;
        o << "-------------------------------------------------------" << endl;
        for (size_t q=0;q<sensedData.size();q++)
        {
                o << format("     %7u",(unsigned int)sensedData[q].sensorID );
                o << format("    %4.03f   ",sensedData[q].sensedDistance);
                o << sensedData[q].sensorPose << endl;
        }
}