metric_map_types.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/serialization/CArchive.h>
#include <mrpt/config/CLoadableOptions.h>
#include <mrpt/config/CConfigFileBase.h>
#include <mrpt/maps/metric_map_types.h>

using namespace mrpt::obs;
using namespace mrpt::maps;

IMPLEMENTS_SERIALIZABLE(TMapGenericParams, CSerializable, mrpt::maps)

void TMapGenericParams::loadFromConfigFile(
    const mrpt::config::CConfigFileBase& source, const std::string& sct)
{
    MRPT_LOAD_CONFIG_VAR(enableSaveAs3DObject, bool, source, sct);
    MRPT_LOAD_CONFIG_VAR(enableObservationLikelihood, bool, source, sct);
    MRPT_LOAD_CONFIG_VAR(enableObservationInsertion, bool, source, sct);
}
void TMapGenericParams::saveToConfigFile(
    mrpt::config::CConfigFileBase& c,
    const std::string& s) const
{
    // Common:
    MRPT_SAVE_CONFIG_VAR_COMMENT(enableSaveAs3DObject, "");
    MRPT_SAVE_CONFIG_VAR_COMMENT(enableObservationLikelihood, "");
    MRPT_SAVE_CONFIG_VAR_COMMENT(enableObservationInsertion, "");
}

uint8_t TMapGenericParams::serializeGetVersion() const { return 0; }
void TMapGenericParams::serializeTo(mrpt::serialization::CArchive& out) const
{
    out << enableSaveAs3DObject << enableObservationLikelihood
        << enableObservationInsertion;
}
void TMapGenericParams::serializeFrom(
    mrpt::serialization::CArchive& in, uint8_t version)
{
    switch (version)
    {
        case 0:
        {
            in >> enableSaveAs3DObject >> enableObservationLikelihood >>
                enableObservationInsertion;
        }
        break;
        default:
            MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)
    };
}