CObservationBeaconRanges.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/utils/CStream.h>
#include <mrpt/obs/CObservationBeaconRanges.h>
#include <mrpt/system/os.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(CObservationBeaconRanges, CObservation, mrpt::obs)

/** Default constructor.
 */
CObservationBeaconRanges::CObservationBeaconRanges()
        : minSensorDistance(0),
          maxSensorDistance(1e2f),
          stdError(1e-2f),
          sensedData(),
          auxEstimatePose()
{
}

/*---------------------------------------------------------------
  Implements the writing to a CStream capability of CSerializable objects
 ---------------------------------------------------------------*/
void CObservationBeaconRanges::writeToStream(
        mrpt::utils::CStream& out, int* version) const
{
        if (version)
                *version = 3;
        else
        {
                uint32_t i, n;

                // The data
                out << minSensorDistance << maxSensorDistance << stdError;

                n = sensedData.size();
                out << n;
                for (i = 0; i < n; i++)
                        out << sensedData[i].sensorLocationOnRobot
                                << sensedData[i].sensedDistance << sensedData[i].beaconID;

                out << auxEstimatePose;

                out << sensorLabel << timestamp;
        }
}

/*---------------------------------------------------------------
  Implements the reading from a CStream capability of CSerializable objects
 ---------------------------------------------------------------*/
void CObservationBeaconRanges::readFromStream(
        mrpt::utils::CStream& in, int version)
{
        switch (version)
        {
                case 0:
                case 1:
                case 2:
                case 3:
                {
                        uint32_t i, n, id;

                        // The data
                        in >> minSensorDistance >> maxSensorDistance >> stdError;

                        in >> n;
                        sensedData.resize(n);
                        for (i = 0; i < n; i++)
                        {
                                in >> sensedData[i].sensorLocationOnRobot >>
                                        sensedData[i].sensedDistance;
                                in >> id;
                                sensedData[i].beaconID = id;
                        }

                        if (version >= 1) in >> auxEstimatePose;

                        if (version >= 2)
                                in >> sensorLabel;
                        else
                                sensorLabel = "";

                        if (version >= 3)
                                in >> timestamp;
                        else
                                timestamp = INVALID_TIMESTAMP;
                }
                break;
                default:
                        MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)
        };
}

/*---------------------------------------------------------------
  Implements the writing to a CStream capability of CSerializable objects
 ---------------------------------------------------------------*/
void CObservationBeaconRanges::debugPrintOut()
{
        printf("[CObservationBeaconRanges::debugPrintOut] Dumping:\n");
        printf(
                "[CObservationBeaconRanges::debugPrintOut] minSensorDistance:\t%f\n",
                minSensorDistance);
        printf(
                "[CObservationBeaconRanges::debugPrintOut] maxSensorDistance:\t%f:\n",
                maxSensorDistance);
        printf(
                "[CObservationBeaconRanges::debugPrintOut] stdError:\t%f\n", stdError);
        printf(
                "[CObservationBeaconRanges::debugPrintOut] %u ranges:\n",
                static_cast<unsigned>(sensedData.size()));

        size_t i, n = sensedData.size();
        for (i = 0; i < n; i++)
                printf(
                        "[CObservationBeaconRanges::debugPrintOut] \tID[%u]: %f\n",
                        sensedData[i].beaconID, sensedData[i].sensedDistance);
}

/*---------------------------------------------------------------
                                         getSensorPose
 ---------------------------------------------------------------*/
void CObservationBeaconRanges::getSensorPose(CPose3D& out_sensorPose) const
{
        if (!sensedData.empty())
                out_sensorPose = CPose3D(sensedData[0].sensorLocationOnRobot);
        else
                out_sensorPose = CPose3D(0, 0, 0);
}

/*---------------------------------------------------------------
                                         setSensorPose
 ---------------------------------------------------------------*/
void CObservationBeaconRanges::setSensorPose(const CPose3D& newSensorPose)
{
        size_t i, n = sensedData.size();
        if (n)
                for (i = 0; i < n; i++)
                        sensedData[i].sensorLocationOnRobot = CPoint3D(newSensorPose);
}

/*---------------------------------------------------------------
                                         getSensedRangeByBeaconID
 ---------------------------------------------------------------*/
float CObservationBeaconRanges::getSensedRangeByBeaconID(int32_t beaconID)
{
        for (size_t i = 0; i < sensedData.size(); i++)
                if (sensedData[i].beaconID == beaconID)
                        return sensedData[i].sensedDistance;
        return 0;
}

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

        o << "Auxiliary estimated pose (if available): " << auxEstimatePose << endl;

        o << format("minSensorDistance=%f m\n", minSensorDistance);
        o << format("maxSensorDistance=%f m\n", maxSensorDistance);
        o << format("stdError=%f m\n\n", stdError);

        o << format(
                "There are %u range measurements:\n\n", (unsigned)sensedData.size());

        o << "  BEACON   RANGE     SENSOR POSITION ON ROBOT \n";
        o << "------------------------------------------------\n";
        for (deque<CObservationBeaconRanges::TMeasurement>::const_iterator it =
                         sensedData.begin();
                 it != sensedData.end(); it++)
        {
                o << format(
                        "   %i      %.04f      (%.03f,%.03f,%.03f)\n", (int)it->beaconID,
                        it->sensedDistance, it->sensorLocationOnRobot.x(),
                        it->sensorLocationOnRobot.y(), it->sensorLocationOnRobot.z());
        }
}