CObservationOdometry.cpp

Go to the documentation of this file.

/* +------------------------------------------------------------------------+
   |                     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/CObservationOdometry.h>
#include <mrpt/utils/CStream.h>
#include <mrpt/system/os.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(CObservationOdometry, CObservation, mrpt::obs)

/** Constructor
 */
CObservationOdometry::CObservationOdometry()
        : odometry(),
          hasEncodersInfo(false),
          encoderLeftTicks(0),
          encoderRightTicks(0),
          hasVelocities(false),
          velocityLocal(.0, .0, .0)
{
}

/*---------------------------------------------------------------
  Implements the writing to a CStream capability of CSerializable objects
 ---------------------------------------------------------------*/
void CObservationOdometry::writeToStream(
        mrpt::utils::CStream& out, int* version) const
{
        MRPT_UNUSED_PARAM(out);
        if (version)
                *version = 2;
        else
        {
                // The data
                out << odometry << sensorLabel << timestamp
                        // Added in V1:
                        << hasEncodersInfo;
                if (hasEncodersInfo) out << encoderLeftTicks << encoderRightTicks;

                out << hasVelocities;
                if (hasVelocities) out << velocityLocal;
        }
}

/*---------------------------------------------------------------
  Implements the reading from a CStream capability of CSerializable objects
 ---------------------------------------------------------------*/
void CObservationOdometry::readFromStream(mrpt::utils::CStream& in, int version)
{
        MRPT_UNUSED_PARAM(in);
        switch (version)
        {
                case 0:
                case 1:
                case 2:
                {
                        in >> odometry >> sensorLabel >> timestamp;

                        if (version >= 1)
                        {
                                in >> hasEncodersInfo;
                                if (hasEncodersInfo || version < 2)
                                        in >> encoderLeftTicks >> encoderRightTicks;

                                in >> hasVelocities;
                                if (version < 2)
                                {
                                        float vx, w;
                                        in >> vx >> w;
                                        velocityLocal.vx = vx;
                                        velocityLocal.vy = .0;
                                        velocityLocal.omega = w;
                                }
                                else
                                {  // v2
                                        if (hasVelocities) in >> velocityLocal;
                                }
                        }
                        else
                        {
                                hasEncodersInfo = false;
                                encoderLeftTicks = encoderRightTicks = 0;
                                hasVelocities = false;
                        }
                }
                break;
                default:
                        MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)
        };
}

void CObservationOdometry::getDescriptionAsText(std::ostream& o) const
{
        CObservation::getDescriptionAsText(o);

        o << std::endl << "Odometry reading: " << odometry << std::endl;

        // Additional data:
        if (hasEncodersInfo)
        {
                o << format(
                        " Encoder info: deltaL=%i deltaR=%i\n", encoderLeftTicks,
                        encoderRightTicks);
        }
        else
                o << "Encoder info: Not available!\n";

        if (hasVelocities)
        {
                o << format("Velocity info: %s\n", velocityLocal.asString().c_str());
        }
        else
                o << "Velocity info: Not available!\n";
}