CRobotPosesGraph.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 "hmtslam-precomp.h"  // Precomp header

#include <mrpt/hmtslam/CRobotPosesGraph.h>

using namespace mrpt::slam;
using namespace mrpt::maps;
using namespace mrpt::poses;
using namespace mrpt::hmtslam;
using namespace std;

IMPLEMENTS_SERIALIZABLE(CRobotPosesGraph, CSerializable, mrpt::hmtslam)

/*---------------------------------------------------------------
                                                writeToStream
  ---------------------------------------------------------------*/
void CRobotPosesGraph::writeToStream(
        mrpt::utils::CStream& out, int* version) const
{
        if (version)
                *version = 0;
        else
        {
                uint32_t N = static_cast<uint32_t>(size());
                out << N;

                for (std::map<TPoseID, TPoseInfo>::const_iterator it = begin();
                         it != end(); ++it)
                {
                        out << it->first << it->second.sf << it->second.pdf;
                }
        }
}

/*---------------------------------------------------------------
                                                readFromStream
  ---------------------------------------------------------------*/
void CRobotPosesGraph::readFromStream(mrpt::utils::CStream& in, int version)
{
        switch (version)
        {
                case 0:
                {
                        uint32_t i, N;
                        in >> N;
                        clear();

                        for (i = 0; i < N; i++)
                        {
                                TPoseID poseid;
                                in >> poseid;

                                TPoseInfo& info = (*this)[poseid];

                                in >> info.sf >> info.pdf;
                        }
                }
                break;
                default:
                        MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)
        };
}

/*---------------------------------------------------------------
                                        insertIntoMetricMap
  ---------------------------------------------------------------*/
void CRobotPosesGraph::insertIntoMetricMap(CMultiMetricMap& metricMap) const
{
        CPose3D meanPose;
        for (std::map<TPoseID, TPoseInfo>::const_iterator it = begin(); it != end();
                 ++it)
        {
                it->second.pdf.getMean(meanPose);
                it->second.sf.insertObservationsInto(&metricMap, &meanPose);
        }
}

/*---------------------------------------------------------------
                                        convertIntoSimplemap
  ---------------------------------------------------------------*/
void CRobotPosesGraph::convertIntoSimplemap(CSimpleMap& out_simplemap) const
{
        out_simplemap.clear();
        for (std::map<TPoseID, TPoseInfo>::const_iterator it = begin(); it != end();
                 ++it)
                out_simplemap.insert(&it->second.pdf, it->second.sf);
}