CRobotPosesGraph.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 "hmtslam-precomp.h" // Precomp header

#include <mrpt/hmtslam/CRobotPosesGraph.h>

using namespace mrpt::slam;
using namespace mrpt::maps;
using namespace mrpt::poses;
using namespace mrpt::hmtslam;
using namespace std;

IMPLEMENTS_SERIALIZABLE( CRobotPosesGraph, CSerializable , mrpt::hmtslam)


/*---------------------------------------------------------------
                                                writeToStream
  ---------------------------------------------------------------*/
void  CRobotPosesGraph::writeToStream(mrpt::utils::CStream &out,int *version) const
{
        if (version)
                *version = 0;
        else
        {
                uint32_t   N = static_cast<uint32_t>(size());
                out << N;

                for (std::map<TPoseID,TPoseInfo>::const_iterator it=begin();it!=end();++it)
                {
                        out << it->first
                            << it->second.sf
                            << it->second.pdf;
                }
        }
}

/*---------------------------------------------------------------
                                                readFromStream
  ---------------------------------------------------------------*/
void  CRobotPosesGraph::readFromStream(mrpt::utils::CStream &in,int version)
{
        switch(version)
        {
        case 0:
                {
                        uint32_t   i,N;
                        in >> N;
                        clear();

                        for (i=0;i<N;i++)
                        {
                                TPoseID  poseid;
                                in >> poseid;

                                TPoseInfo  &info = (*this)[poseid];

                                in >> info.sf
                                   >> info.pdf;
                        }

                } break;
        default:
                MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)

        };
}

/*---------------------------------------------------------------
                                        insertIntoMetricMap
  ---------------------------------------------------------------*/
void CRobotPosesGraph::insertIntoMetricMap( CMultiMetricMap     &metricMap ) const
{
        CPose3D  meanPose;
        for (std::map<TPoseID,TPoseInfo>::const_iterator it=begin();it!=end();++it)
        {
                it->second.pdf.getMean(meanPose);
                it->second.sf.insertObservationsInto( &metricMap, &meanPose );
        }
}

/*---------------------------------------------------------------
                                        convertIntoSimplemap
  ---------------------------------------------------------------*/
void CRobotPosesGraph::convertIntoSimplemap( CSimpleMap &out_simplemap) const
{
        out_simplemap.clear();
        for (std::map<TPoseID,TPoseInfo>::const_iterator it=begin();it!=end();++it)
                out_simplemap.insert( &it->second.pdf, it->second.sf );
}