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

/** Constructor
 */
CObservationWindSensor::CObservationWindSensor() : speed(0.0), direction(0.0) {}
/*---------------------------------------------------------------
  Implements the writing to a CStream capability of CSerializable objects
 ---------------------------------------------------------------*/
void CObservationWindSensor::writeToStream(
        mrpt::utils::CStream& out, int* version) const
{
        MRPT_UNUSED_PARAM(out);
        if (version)
                *version = 3;
        else
        {
                // The data
                out << speed << direction << sensorLabel << timestamp
                        << sensorPoseOnRobot;
        }
}

/*---------------------------------------------------------------
  Implements the reading from a CStream capability of CSerializable objects
 ---------------------------------------------------------------*/
void CObservationWindSensor::readFromStream(
        mrpt::utils::CStream& in, int version)
{
        // MRPT_UNUSED_PARAM(in);
        switch (version)
        {
                case 0:
                case 1:
                case 2:
                case 3:
                {
                        in >> speed >> direction;
                        if (version >= 1)
                                in >> sensorLabel;
                        else
                                sensorLabel = "";

                        if (version >= 2)
                                in >> timestamp;
                        else
                                timestamp = INVALID_TIMESTAMP;

                        if (version >= 3)
                                in >> sensorPoseOnRobot;
                        else
                                sensorPoseOnRobot = CPose3D();
                }
                break;
                default:
                        MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)
        };
}

void CObservationWindSensor::getSensorPose(CPose3D& out_sensorPose) const
{
        out_sensorPose = sensorPoseOnRobot;
}

void CObservationWindSensor::setSensorPose(const CPose3D& newSensorPose)
{
        sensorPoseOnRobot = newSensorPose;
}

void CObservationWindSensor::getDescriptionAsText(std::ostream& o) const
{
        CObservation::getDescriptionAsText(o);
}