CPoses3DSequence.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 "base-precomp.h"  // Precompiled headers

#include <mrpt/poses/CPoses3DSequence.h>
#include <mrpt/utils/CStream.h>

using namespace mrpt;
using namespace mrpt::poses;
using namespace mrpt::math;
using namespace mrpt::utils;

IMPLEMENTS_SERIALIZABLE( CPoses3DSequence, CSerializable ,mrpt::poses)

/*---------------------------------------------------------------
                        Default constructor
  ---------------------------------------------------------------*/
CPoses3DSequence::CPoses3DSequence() :
        m_poses()
{

}

/*---------------------------------------------------------------
                        Returns the poses count in the sequence:
  ---------------------------------------------------------------*/
size_t  CPoses3DSequence::posesCount()
{
        return m_poses.size();
}

/*---------------------------------------------------------------
   Implements the writing to a CStream capability of
     CSerializable objects
  ---------------------------------------------------------------*/
void  CPoses3DSequence::writeToStream(mrpt::utils::CStream &out,int *version) const
{
        if (version)
                *version = 0;
        else
        {
                uint32_t                i,n;

                // The poses:
                n = m_poses.size();
                out << n;
                for (i=0;i<n;i++) out << m_poses[i];
        }
}

/*---------------------------------------------------------------
        Implements the reading from a CStream capability of
                CSerializable objects
  ---------------------------------------------------------------*/
void  CPoses3DSequence::readFromStream(mrpt::utils::CStream &in, int version)
{
        switch(version)
        {
        case 0:
                {
                        uint32_t        i,n;

                        // The poses:
                        in >> n;
                        m_poses.resize(n);
                        for (i=0;i<n;i++)       in >> m_poses[i];
                } break;
        default:
                MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)

        };
}

/*---------------------------------------------------------------
Reads the stored pose at index "ind", where the first one is 0, the last "posesCount() - 1"
 ---------------------------------------------------------------*/
void  CPoses3DSequence::getPose(unsigned int ind, CPose3D &outPose)
{
        if (ind>=m_poses.size()) THROW_EXCEPTION("getPose: Index out of range!!");

        outPose = CPose3D(m_poses[ind]);
}

/*---------------------------------------------------------------
Changes the stored pose at index "ind", where the first one is 0, the last "posesCount() - 1"
 ---------------------------------------------------------------*/
void  CPoses3DSequence::changePose(unsigned int ind, CPose3D &inPose)
{
        if (ind>=m_poses.size()) THROW_EXCEPTION("getPose: Index out of range!!");
        m_poses[ind] = inPose;
}

/*---------------------------------------------------------------
        Appends a new pose at the end of sequence. Remember that poses are relative, incremental to the last one.
 ---------------------------------------------------------------*/
void  CPoses3DSequence::appendPose(CPose3D &newPose)
{
        m_poses.push_back( newPose );
}

/*---------------------------------------------------------------
                        Clears the sequence.
 ---------------------------------------------------------------*/
void  CPoses3DSequence::clear()
{
        m_poses.clear();
}

/*---------------------------------------------------------------
 ---------------------------------------------------------------*/
/** Returns the absolute pose of a robot after moving "n" poses, so for "n=0" the origin pose (0,0,0deg) is returned, for "n=1" the first pose is returned, and for "n=posesCount()", the pose
 *  of robot after moving ALL poses is returned, all of them relative to the starting pose.
 */
CPose3D  CPoses3DSequence::absolutePoseOf(unsigned int n)
{
        CPose3D         ret(0,0,0);
        unsigned int                    i;

        if (n>m_poses.size()) THROW_EXCEPTION("absolutePoseOf: Index out of range!!");

        for (i=0;i<n;i++)       ret = ret + CPose3D(m_poses[i]);

        return ret;
}


/*---------------------------------------------------------------
        A shortcut for "absolutePoseOf( posesCount() )".
 ---------------------------------------------------------------*/
CPose3D  CPoses3DSequence::absolutePoseAfterAll()
{
        return absolutePoseOf( posesCount() );
}

/*---------------------------------------------------------------
        Returns the traveled distance after moving "n" poses, so for "n=0" it returns 0, for "n=1" the first traveled distance, and for "n=posesCount()", the total
        distance after ALL movements.
 ---------------------------------------------------------------*/
float  CPoses3DSequence::computeTraveledDistanceAfter(unsigned int n)
{
        unsigned int            i;
        float   dist = 0;

        if (n>m_poses.size()) THROW_EXCEPTION("computeTraveledDistanceAfter: Index out of range!!");

        for (i=0;i<n;i++)       dist+= m_poses[i].norm();
        return dist;
}

/*---------------------------------------------------------------
        Returns the traveled distance after ALL movements.
        A shortcut for "computeTraveledDistanceAfter( posesCount() )".
 ---------------------------------------------------------------*/
float  CPoses3DSequence::computeTraveledDistanceAfterAll()
{
        return computeTraveledDistanceAfter( posesCount() );
}