CObservationRange.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2019, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

#include "obs-precomp.h"  // Precompiled headers

#include <mrpt/obs/CObservationRange.h>
#include <mrpt/serialization/CArchive.h>

using namespace mrpt::obs;
using namespace mrpt::poses;

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

/** Default constructor.
 */
CObservationRange::CObservationRange()
    : sensorConeApperture(DEG2RAD(20)), sensedData()
{
}

uint8_t CObservationRange::serializeGetVersion() const { return 3; }
void CObservationRange::serializeTo(mrpt::serialization::CArchive& out) const
{
    // The data
    out << minSensorDistance << maxSensorDistance << sensorConeApperture;
    const uint32_t n = sensedData.size();
    out << n;
    for (uint32_t i = 0; i < n; i++)
        out << sensedData[i].sensorID << CPose3D(sensedData[i].sensorPose)
            << sensedData[i].sensedDistance;
    out << sensorLabel << timestamp;
}

void CObservationRange::serializeFrom(
    mrpt::serialization::CArchive& in, uint8_t version)
{
    switch (version)
    {
        case 0:
        case 1:
        case 2:
        case 3:
        {
            uint32_t i, n;

            // The data
            in >> minSensorDistance >> maxSensorDistance >> sensorConeApperture;

            in >> n;
            sensedData.resize(n);
            CPose3D aux;
            for (i = 0; i < n; i++)
            {
                if (version >= 3)
                    in >> sensedData[i].sensorID;
                else
                    sensedData[i].sensorID = i;

                in >> aux >> sensedData[i].sensedDistance;
                sensedData[i].sensorPose = aux.asTPose();
            }

            if (version >= 1)
                in >> sensorLabel;
            else
                sensorLabel = "";

            if (version >= 2)
                in >> timestamp;
            else
                timestamp = INVALID_TIMESTAMP;
        }
        break;
        default:
            MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version);
    };
}

/*---------------------------------------------------------------
                     getSensorPose
 ---------------------------------------------------------------*/
void CObservationRange::getSensorPose(CPose3D& out_sensorPose) const
{
    if (!sensedData.empty())
        out_sensorPose = CPose3D(sensedData[0].sensorPose);
    else
        out_sensorPose = CPose3D(0, 0, 0);
}

/*---------------------------------------------------------------
                     setSensorPose
 ---------------------------------------------------------------*/
void CObservationRange::setSensorPose(const CPose3D& newSensorPose)
{
    for (auto& sd : sensedData) sd.sensorPose = newSensorPose.asTPose();
}

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

    o << "minSensorDistance   = " << minSensorDistance << " m" << endl;
    o << "maxSensorDistance   = " << maxSensorDistance << " m" << endl;
    o << "sensorConeApperture = " << RAD2DEG(sensorConeApperture) << " deg"
      << endl;

    // For each entry in this sequence:
    o << "  SENSOR_ID    RANGE (m)    SENSOR POSE (on the robot)" << endl;
    o << "-------------------------------------------------------" << endl;
    for (const auto& q : sensedData)
    {
        o << format("     %7u", (unsigned int)q.sensorID);
        o << format("    %4.03f   ", q.sensedDistance);
        o << q.sensorPose << endl;
    }
}