CActionCollection.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 "obs-precomp.h"  // Precompiled headers

#include <mrpt/obs/CActionCollection.h>
#include <mrpt/obs/CActionRobotMovement2D.h>
#include <mrpt/obs/CActionRobotMovement3D.h>
#include <mrpt/poses/CPosePDF.h>
#include <mrpt/utils/CStream.h>

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

#include <mrpt/utils/metaprogramming.h>
using namespace mrpt::utils::metaprogramming;

IMPLEMENTS_SERIALIZABLE(CActionCollection, CSerializable, mrpt::obs)

/*---------------------------------------------------------------
                                                Constructor
  ---------------------------------------------------------------*/
CActionCollection::CActionCollection() : m_actions() {}
/*---------------------------------------------------------------
                                                Constructor
  ---------------------------------------------------------------*/
CActionCollection::CActionCollection(CAction& a) : m_actions()
{
        m_actions.push_back(CAction::Ptr(static_cast<CAction*>(a.clone())));
}

/*---------------------------------------------------------------
  Implements the writing to a CStream capability of CSerializable objects
 ---------------------------------------------------------------*/
void CActionCollection::writeToStream(
        mrpt::utils::CStream& out, int* version) const
{
        if (version)
                *version = 0;
        else
        {
                uint32_t n;

                n = static_cast<uint32_t>(m_actions.size());
                out << n;
                for (const_iterator it = begin(); it != end(); ++it) out << *(*it);
        }
}

/*---------------------------------------------------------------
  Implements the reading from a CStream capability of CSerializable objects
 ---------------------------------------------------------------*/
void CActionCollection::readFromStream(mrpt::utils::CStream& in, int version)
{
        switch (version)
        {
                case 0:
                {
                        uint32_t n;

                        clear();

                        in >> n;
                        m_actions.resize(n);
                        for_each(
                                begin(), end(), ObjectReadFromStreamToPtrs<CAction::Ptr>(&in));
                }
                break;
                default:
                        MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)
        };
}

/*---------------------------------------------------------------
                                                clear
 ---------------------------------------------------------------*/
void CActionCollection::clear() { m_actions.clear(); }
/*---------------------------------------------------------------
                                                get
 ---------------------------------------------------------------*/
CAction::Ptr CActionCollection::get(size_t index)
{
        if (index >= m_actions.size()) THROW_EXCEPTION("Index out of bounds");

        return m_actions.at(index).get_ptr();
}

const CAction& CActionCollection::get(size_t index) const
{
        if (index >= m_actions.size()) THROW_EXCEPTION("Index out of bounds");

        return *(m_actions.at(index).get_ptr());
}

/*---------------------------------------------------------------
                                                size
 ---------------------------------------------------------------*/
size_t CActionCollection::size() { return m_actions.size(); }
/*---------------------------------------------------------------
                                                insert
 ---------------------------------------------------------------*/
void CActionCollection::insert(CAction& action)
{
        m_actions.push_back(CAction::Ptr(static_cast<CAction*>(action.clone())));
}

/*---------------------------------------------------------------
                                                getBestMovementEstimation
 ---------------------------------------------------------------*/
CActionRobotMovement2D::Ptr CActionCollection::getBestMovementEstimation() const
{
        CActionRobotMovement2D::Ptr bestEst;
        double bestDet = 1e3;

        // Find the best
        for (const_iterator it = begin(); it != end(); ++it)
        {
                if ((*it)->GetRuntimeClass()->derivedFrom(
                                CLASS_ID(CActionRobotMovement2D)))
                {
                        CActionRobotMovement2D::Ptr temp =
                                std::dynamic_pointer_cast<CActionRobotMovement2D>(
                                        it->get_ptr());

                        if (temp->estimationMethod ==
                                CActionRobotMovement2D::emScan2DMatching)
                        {
                                return temp;
                        }

                        double det = temp->poseChange->getCovariance().det();

                        // If it is the best until now, save it:
                        if (det < bestDet)
                        {
                                bestEst = temp;
                                bestDet = det;
                        }
                }
        }

        return bestEst;
}

/*---------------------------------------------------------------
                                                        eraseByIndex
 ---------------------------------------------------------------*/
void CActionCollection::eraseByIndex(const size_t& index)
{
        if (index >= m_actions.size()) THROW_EXCEPTION("Index out of bounds");

        iterator it = m_actions.begin() + index;
        m_actions.erase(it);
}

/*---------------------------------------------------------------
                                                        eraseByIndex
 ---------------------------------------------------------------*/
CActionRobotMovement2D::Ptr CActionCollection::getMovementEstimationByType(
        CActionRobotMovement2D::TEstimationMethod method)
{
        // Find it:
        for (iterator it = begin(); it != end(); ++it)
        {
                if ((*it)->GetRuntimeClass()->derivedFrom(
                                CLASS_ID(CActionRobotMovement2D)))
                {
                        CActionRobotMovement2D::Ptr temp =
                                std::dynamic_pointer_cast<CActionRobotMovement2D>(
                                        it->get_ptr());

                        // Is it of the required type?
                        if (temp->estimationMethod == method)
                        {
                                // Yes!:
                                return temp;
                        }
                }
        }

        // Not found:
        return CActionRobotMovement2D::Ptr();
}

/*---------------------------------------------------------------
                                                        erase
 ---------------------------------------------------------------*/
CActionCollection::iterator CActionCollection::erase(const iterator& it)
{
        MRPT_START
        ASSERT_(it != end());

        return m_actions.erase(it);
        MRPT_END
}

/*---------------------------------------------------------------
                                                        getFirstMovementEstimationMean
 ---------------------------------------------------------------*/
bool CActionCollection::getFirstMovementEstimationMean(
        CPose3D& out_pose_increment) const
{
        CActionRobotMovement3D::Ptr act3D =
                getActionByClass<CActionRobotMovement3D>();
        if (act3D)
        {
                out_pose_increment = act3D->poseChange.mean;
                return true;
        }
        CActionRobotMovement2D::Ptr act2D =
                getActionByClass<CActionRobotMovement2D>();
        if (act2D)
        {
                out_pose_increment = CPose3D(act2D->poseChange->getMeanVal());
                return true;
        }
        return false;
}

/*---------------------------------------------------------------
                                        getFirstMovementEstimation
 ---------------------------------------------------------------*/
bool CActionCollection::getFirstMovementEstimation(
        CPose3DPDFGaussian& out_pose_increment) const
{
        CActionRobotMovement3D::Ptr act3D =
                getActionByClass<CActionRobotMovement3D>();
        if (act3D)
        {
                out_pose_increment = act3D->poseChange;
                return true;
        }
        CActionRobotMovement2D::Ptr act2D =
                getActionByClass<CActionRobotMovement2D>();
        if (act2D)
        {
                out_pose_increment.copyFrom(*act2D->poseChange);
                return true;
        }
        return false;
}