CObservationRobotPose.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/matrix_serialization.h>
#include <mrpt/obs/CObservationRobotPose.h>
#include <mrpt/serialization/CArchive.h>
#include <mrpt/system/os.h>

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

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

uint8_t CObservationRobotPose::serializeGetVersion() const { return 1; }
void CObservationRobotPose::serializeTo(
    mrpt::serialization::CArchive& out) const
{
    out << pose;
    out << sensorLabel << timestamp << sensorPose;
}

void CObservationRobotPose::serializeFrom(
    mrpt::serialization::CArchive& in, uint8_t version)
{
    switch (version)
    {
        case 0:
        case 1:
        {
            in >> pose;
            in >> sensorLabel >> timestamp;
            if (version >= 1) in >> sensorPose;
        }
        break;
        default:
            MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version);
    };
}

void CObservationRobotPose::getSensorPose(CPose3D& out_sensorPose) const
{
    out_sensorPose = sensorPose;
}

void CObservationRobotPose::setSensorPose(const CPose3D& newSensorPose)
{
    sensorPose = newSensorPose;
}

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

    o << "Sensor pose: " << sensorPose << endl;
    o << "Pose: " << pose.asString() << endl;
}