CObservationIMU.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/utils/CStream.h>
#include <mrpt/obs/CObservationIMU.h>
//#include <mrpt/math/CMatrixD.h>

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

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

/*---------------------------------------------------------------
  Implements the writing to a CStream capability of CSerializable objects
 ---------------------------------------------------------------*/
void CObservationIMU::writeToStream(
        mrpt::utils::CStream& out, int* version) const
{
        if (version)
                *version = 3;  // v1->v2 was only done to fix a bug in the ordering of
        // YAW/PITCH/ROLL rates.
        else
        {
                out << sensorPose << dataIsPresent << timestamp;

                out << rawMeasurements;
                // Version 3: Added 6 new raw measurements (IMU_MAG_X=15 to
                // IMU_TEMPERATURE=20)

                out << sensorLabel;
        }
}

/*---------------------------------------------------------------
  Implements the reading from a CStream capability of CSerializable objects
 ---------------------------------------------------------------*/
void CObservationIMU::readFromStream(mrpt::utils::CStream& in, int version)
{
        switch (version)
        {
                case 0:
                case 1:
                case 2:
                case 3:
                        in >> sensorPose;
                        in >> dataIsPresent;

                        in >> timestamp;

                        // In version 0 it was a vector of floats:
                        if (version < 1)
                        {
                                mrpt::math::CVectorFloat tmp;
                                in >> tmp;
                                rawMeasurements.resize(tmp.size());
                                for (size_t i = 0; i < rawMeasurements.size(); i++)
                                        rawMeasurements[i] = tmp[i];
                        }
                        else
                        {
                                in >> rawMeasurements;
                        }

                        if (version < 2)
                        {
                                // A bug in the grabbing from XSens IMU's made /ROLL rates to be
                                // stored in the wrong order:
                                std::swap(
                                        rawMeasurements[IMU_YAW_VEL],
                                        rawMeasurements[IMU_ROLL_VEL]);
                        }
                        else
                        {
                                // v2: nothing to do, data is already in the right order.
                        }

                        in >> sensorLabel;

                        // Fill new entries with default values:
                        if (dataIsPresent.size() < COUNT_IMU_DATA_FIELDS)
                        {
                                const size_t nOld = dataIsPresent.size();
                                ASSERT_(rawMeasurements.size() == dataIsPresent.size());

                                dataIsPresent.resize(COUNT_IMU_DATA_FIELDS);
                                rawMeasurements.resize(COUNT_IMU_DATA_FIELDS);
                                for (size_t i = nOld; i < COUNT_IMU_DATA_FIELDS; i++)
                                {
                                        dataIsPresent[i] = false;
                                        rawMeasurements[i] = 0;
                                }
                        }
                        break;
                default:
                        MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)
        };
}

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

        o << "Sensor pose on the robot: " << sensorPose << endl;

        o << format(
                "Orientation (degrees): (yaw,pitch,roll)=(%.06f, %.06f, %.06f)\n\n",
                RAD2DEG(rawMeasurements[IMU_YAW]), RAD2DEG(rawMeasurements[IMU_PITCH]),
                RAD2DEG(rawMeasurements[IMU_ROLL]));

        // Units:
        // Use "COUNT_IMU_DATA_FIELDS" so a compile error happens if the sizes don't
        // fit ;-)
        static const char* imu_units[mrpt::obs::COUNT_IMU_DATA_FIELDS] = {
                "m/s^2",  //    IMU_X_ACC,
                "m/s^2",  //    IMU_Y_ACC,
                "m/s^2",  //    IMU_Z_ACC,
                "rad/s",  //    IMU_YAW_VEL,
                "rad/s",  //    IMU_PITCH_VEL,
                "rad/s",  //    IMU_ROLL_VEL,
                "m/s",  //      IMU_X_VEL,
                "m/s",  //      IMU_Y_VEL,
                "m/s",  //      IMU_Z_VEL,
                "rad",  //      IMU_YAW,
                "rad",  //      IMU_PITCH,
                "rad",  //      IMU_ROLL,
                "m",  //        IMU_X,
                "m",  //        IMU_Y,
                "m",  //        IMU_Z
                "gauss",  // IMU_MAG_X,
                "gauss",  // IMU_MAG_Y,
                "gauss",  // IMU_MAG_Z,
                "Pa",  // IMU_PRESSURE,
                "m",  // IMU_ALTITUDE,
                "deg.",  // IMU_TEMPERATURE,
                "qx",  // IMU_ORI_QUAT_X,
                "qy",  // IMU_ORI_QUAT_Y,
                "qz",  // IMU_ORI_QUAT_Z,
                "qw",  // IMU_ORI_QUAT_W,
                "rad/s",  //    IMU_YAW_VEL_GLOBAL
                "rad/s",  //    IMU_PITCH_VEL_GLOBAL
                "rad/s",  //    IMU_ROLL_VEL_GLOBAL
                "m/s^2",  //    IMU_X_ACC_GLOBAL
                "m/s^2",  //    IMU_Y_ACC_GLOBAL
                "m/s^2"  //     IMU_Z_ACC_GLOBAL
        };

#define DUMP_IMU_DATA(x)                                            \
        o << format("%15s = ", #x);                                     \
        if (dataIsPresent[x])                                           \
                o << format("%10f %s\n", rawMeasurements[x], imu_units[x]); \
        else                                                            \
                o << "(not present)\n";

        DUMP_IMU_DATA(IMU_X_ACC)
        DUMP_IMU_DATA(IMU_Y_ACC)
        DUMP_IMU_DATA(IMU_Z_ACC)
        DUMP_IMU_DATA(IMU_YAW_VEL)
        DUMP_IMU_DATA(IMU_PITCH_VEL)
        DUMP_IMU_DATA(IMU_ROLL_VEL)
        DUMP_IMU_DATA(IMU_X_VEL)
        DUMP_IMU_DATA(IMU_Y_VEL)
        DUMP_IMU_DATA(IMU_Z_VEL)
        DUMP_IMU_DATA(IMU_YAW)
        DUMP_IMU_DATA(IMU_PITCH)
        DUMP_IMU_DATA(IMU_ROLL)
        DUMP_IMU_DATA(IMU_X)
        DUMP_IMU_DATA(IMU_Y)
        DUMP_IMU_DATA(IMU_Z)
        DUMP_IMU_DATA(IMU_MAG_X)
        DUMP_IMU_DATA(IMU_MAG_Y)
        DUMP_IMU_DATA(IMU_MAG_Z)
        DUMP_IMU_DATA(IMU_PRESSURE)
        DUMP_IMU_DATA(IMU_ALTITUDE)
        DUMP_IMU_DATA(IMU_TEMPERATURE)
        DUMP_IMU_DATA(IMU_ORI_QUAT_X)
        DUMP_IMU_DATA(IMU_ORI_QUAT_Y)
        DUMP_IMU_DATA(IMU_ORI_QUAT_Z)
        DUMP_IMU_DATA(IMU_ORI_QUAT_W)
        DUMP_IMU_DATA(IMU_YAW_VEL_GLOBAL)
        DUMP_IMU_DATA(IMU_PITCH_VEL_GLOBAL)
        DUMP_IMU_DATA(IMU_ROLL_VEL_GLOBAL)
        DUMP_IMU_DATA(IMU_X_ACC_GLOBAL)
        DUMP_IMU_DATA(IMU_Y_ACC_GLOBAL)
        DUMP_IMU_DATA(IMU_Z_ACC_GLOBAL)
}