CObservationRobotPose.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/CObservationRobotPose.h>
#include <mrpt/system/os.h>
#include <mrpt/math/matrix_serialization.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(CObservationRobotPose, CObservation, mrpt::obs)

/** Default constructor */
CObservationRobotPose::CObservationRobotPose() {}
/*---------------------------------------------------------------
  Implements the writing to a CStream capability of CSerializable objects
 ---------------------------------------------------------------*/
void CObservationRobotPose::writeToStream(
        mrpt::utils::CStream& out, int* version) const
{
        if (version)
                *version = 0;
        else
        {
                out << pose;
                out << sensorLabel << timestamp;
        }
}

/*---------------------------------------------------------------
  Implements the reading from a CStream capability of CSerializable objects
 ---------------------------------------------------------------*/
void CObservationRobotPose::readFromStream(
        mrpt::utils::CStream& in, int version)
{
        switch (version)
        {
                case 0:
                {
                        in >> pose;
                        in >> sensorLabel >> timestamp;
                }
                break;
                default:
                        MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)
        };
}

void CObservationRobotPose::getSensorPose(CPose3D& out_sensorPose) const
{
        out_sensorPose = sensorPose;
}

void CObservationRobotPose::setSensorPose(const CPose3D& newSensorPose)
{
        sensorPose = newSensorPose;
}

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

        o << "Sensor pose: " << sensorPose << endl;
        o << "Pose: " << pose.asString() << endl;
}