CObservation.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, 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/CObservation.h>
#include <mrpt/serialization/CArchive.h>
#include <mrpt/system/os.h>
#include <mrpt/math/lightweight_geom_data.h>
 
#include <mrpt/poses/CPose3D.h>
#include <iomanip>
 
using namespace mrpt::obs;
using namespace mrpt::poses;
using namespace mrpt::math;
 
IMPLEMENTS_VIRTUAL_SERIALIZABLE(CObservation, CSerializable, mrpt::obs)
 
void CObservation::getSensorPose(mrpt::math::TPose3D& out_sensorPose) const
{
    CPose3D p;
    getSensorPose(p);
    out_sensorPose = p.asTPose();
}
 
void CObservation::setSensorPose(const mrpt::math::TPose3D& newSensorPose)
{
    setSensorPose(CPose3D(newSensorPose));
}
 
void CObservation::swap(CObservation& o)
{
    std::swap(timestamp, o.timestamp);
    std::swap(sensorLabel, o.sensorLabel);
}
 
void CObservation::getDescriptionAsText(std::ostream& o) const
{
    using namespace mrpt::system; // for the TTimeStamp << op
 
    o << "Timestamp (UTC): " << mrpt::system::dateTimeToString(timestamp)
      << std::endl;
    o << "  (as time_t): " << std::fixed << std::setprecision(5)
      << mrpt::system::timestampTotime_t(timestamp) << std::endl;
    o << "  (as TTimestamp): " << timestamp << std::endl;
    o << "Sensor label: '" << sensorLabel << "'" << std::endl;
    o << std::endl;
}