CObservationSkeleton.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 "obs-precomp.h"  // Precompiled headers

#include <mrpt/obs/CObservationSkeleton.h>
#include <mrpt/utils/CStream.h>

using namespace mrpt::obs;
using namespace mrpt::utils;
using namespace mrpt::poses;
using namespace std;

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

// Helpful macros for reading and writing joints to a stream
#define WRITE_JOINT(_J) out << _J.x << _J.y << _J.z << _J.conf;
#define READ_JOINT(_J) in >> _J.x >> _J.y >> _J.z >> _J.conf;

/*---------------------------------------------------------------
  Implements the writing to a CStream capability of CSerializable objects
 ---------------------------------------------------------------*/
void CObservationSkeleton::writeToStream(CStream& out, int* version) const
{
        if (version)
                *version = 2;
        else
        {
                WRITE_JOINT(head)
                WRITE_JOINT(neck)
                WRITE_JOINT(torso)

                WRITE_JOINT(left_shoulder)
                WRITE_JOINT(left_elbow)
                WRITE_JOINT(left_hand)
                WRITE_JOINT(left_hip)
                WRITE_JOINT(left_knee)
                WRITE_JOINT(left_foot)

                WRITE_JOINT(right_shoulder)
                WRITE_JOINT(right_elbow)
                WRITE_JOINT(right_hand)
                WRITE_JOINT(right_hip)
                WRITE_JOINT(right_knee)
                WRITE_JOINT(right_foot)

                out << sensorLabel << timestamp << sensorPose;
        }
}

/*---------------------------------------------------------------
  Implements the reading from a CStream capability of CSerializable objects
 ---------------------------------------------------------------*/
void CObservationSkeleton::readFromStream(CStream& in, int version)
{
        switch (version)
        {
                case 0:
                case 1:
                case 2:
                {
                        READ_JOINT(head)
                        READ_JOINT(neck)
                        READ_JOINT(torso)

                        READ_JOINT(left_shoulder)
                        READ_JOINT(left_elbow)
                        READ_JOINT(left_hand)
                        READ_JOINT(left_hip)
                        READ_JOINT(left_knee)
                        READ_JOINT(left_foot)

                        READ_JOINT(right_shoulder)
                        READ_JOINT(right_elbow)
                        READ_JOINT(right_hand)
                        READ_JOINT(right_hip)
                        READ_JOINT(right_knee)
                        READ_JOINT(right_foot)

                        in >> sensorLabel;
                        in >> timestamp;
                        if (version >= 2)
                        {
                                in >> sensorPose;
                        }
                }
                break;
                default:
                        MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)
        };
}

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

        o << "Sensor pose on the robot: " << sensorPose << endl;

        // ----------------------------------------------------------------------
        //              CObservationSkeleton
        // ----------------------------------------------------------------------
        o << endl << "Joint Positions (x, y, z) [mm] -- confidence" << endl;

#define PRINT_JOINT(_J)                                                       \
        cout << "\t" << #_J << ":\t(" << this->_J.x << ", " << this->_J.y << ", " \
                 << this->_J.z << ") -- " << this->_J.conf << endl;

        PRINT_JOINT(head)
        PRINT_JOINT(neck)
        PRINT_JOINT(torso)

        PRINT_JOINT(left_shoulder)
        PRINT_JOINT(left_elbow)
        PRINT_JOINT(left_hand)
        PRINT_JOINT(left_hip)
        PRINT_JOINT(left_knee)
        PRINT_JOINT(left_foot)

        PRINT_JOINT(right_shoulder)
        PRINT_JOINT(right_elbow)
        PRINT_JOINT(right_hand)
        PRINT_JOINT(right_hip)
        PRINT_JOINT(right_knee)
        PRINT_JOINT(right_foot)
}