CObservationIMU.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

#include "obs-precomp.h"  // Precompiled headers

#include <mrpt/math/CVectorDynamic.h>
#include <mrpt/obs/CObservationIMU.h>
#include <mrpt/serialization/CArchive.h>

using namespace mrpt::obs;
using namespace mrpt::poses;

// This must be added to any CSerializable class implementation file.
IMPLEMENTS_SERIALIZABLE(CObservationIMU, CObservation, mrpt::obs)

uint8_t CObservationIMU::serializeGetVersion() const { return 3; }
void CObservationIMU::serializeTo(mrpt::serialization::CArchive& out) const
{
    // v1->v2 was only done to fix a bug in the ordering of
    // YAW/PITCH/ROLL rates.
    out << sensorPose << dataIsPresent << timestamp;
    out << rawMeasurements;
    // Version 3: Added 6 new raw measurements (IMU_MAG_X=15 to
    // IMU_TEMPERATURE=20)
    out << sensorLabel;
}

void CObservationIMU::serializeFrom(
    mrpt::serialization::CArchive& in, uint8_t 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_WX)
    DUMP_IMU_DATA(IMU_WY)
    DUMP_IMU_DATA(IMU_WZ)
    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)
}