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

/** Constructor
 */
CObservationWirelessPower::CObservationWirelessPower( ) :
        power(0)
{
}

/*---------------------------------------------------------------
  Implements the writing to a CStream capability of CSerializable objects
 ---------------------------------------------------------------*/
void  CObservationWirelessPower::writeToStream(mrpt::utils::CStream &out, int *version) const
{
        MRPT_UNUSED_PARAM(out);
        if (version)
                *version = 3;
        else
        {
                // The data
                out << power
                        << sensorLabel
                        << timestamp
                        << sensorPoseOnRobot; // Added in v3
        }
}

/*---------------------------------------------------------------
  Implements the reading from a CStream capability of CSerializable objects
 ---------------------------------------------------------------*/
void  CObservationWirelessPower::readFromStream(mrpt::utils::CStream &in, int version)
{
        //MRPT_UNUSED_PARAM(in);
        switch(version)
        {
        case 0:
        case 1:
        case 2:
        case 3:
                {
                        in      >> power;
                        if (version>=1)
                                in >> sensorLabel;
                        else sensorLabel="";

                        if (version>=2)
                                        in >> timestamp;
                        else    timestamp = INVALID_TIMESTAMP;

                        if (version>=3)
                                        in >> sensorPoseOnRobot;
                        else    sensorPoseOnRobot = CPose3D();

                } break;
        default:
                MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)

        };

}



void CObservationWirelessPower::getSensorPose( CPose3D &out_sensorPose ) const
{
        out_sensorPose=sensorPoseOnRobot;
}

void CObservationWirelessPower::setSensorPose( const CPose3D &newSensorPose )
{
        sensorPoseOnRobot = newSensorPose;
}

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

        std::cout << format("Measured Power: %.02f/100\n", power);
}