CRobotPosesGraph.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 "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)

uint8_t CRobotPosesGraph::serializeGetVersion() const { return 0; }
void CRobotPosesGraph::serializeTo(mrpt::serialization::CArchive& out) const
{
    auto N = static_cast<uint32_t>(size());
    out << N;
    for (const auto& e : *this) out << e.first << e.second.sf << e.second.pdf;
}

void CRobotPosesGraph::serializeFrom(
    mrpt::serialization::CArchive& in, uint8_t 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 (const auto& it : *this)
    {
        it.second.pdf.getMean(meanPose);
        it.second.sf.insertObservationsInto(&metricMap, &meanPose);
    }
}

/*---------------------------------------------------------------
                    convertIntoSimplemap
  ---------------------------------------------------------------*/
void CRobotPosesGraph::convertIntoSimplemap(CSimpleMap& out_simplemap) const
{
    out_simplemap.clear();
    for (const auto& it : *this)
        out_simplemap.insert(&it.second.pdf, it.second.sf);
}