CPoses3DSequence.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 "base-precomp.h"  // Precompiled headers

#include <mrpt/poses/CPoses3DSequence.h>
#include <mrpt/utils/CStream.h>

using namespace mrpt;
using namespace mrpt::poses;
using namespace mrpt::math;
using namespace mrpt::utils;

IMPLEMENTS_SERIALIZABLE(CPoses3DSequence, CSerializable, mrpt::poses)

/*---------------------------------------------------------------
                        Default constructor
  ---------------------------------------------------------------*/
CPoses3DSequence::CPoses3DSequence() : m_poses() {}
/*---------------------------------------------------------------
                        Returns the poses count in the sequence:
  ---------------------------------------------------------------*/
size_t CPoses3DSequence::posesCount() { return m_poses.size(); }
/*---------------------------------------------------------------
   Implements the writing to a CStream capability of
         CSerializable objects
  ---------------------------------------------------------------*/
void CPoses3DSequence::writeToStream(
        mrpt::utils::CStream& out, int* version) const
{
        if (version)
                *version = 0;
        else
        {
                uint32_t i, n;

                // The poses:
                n = m_poses.size();
                out << n;
                for (i = 0; i < n; i++) out << m_poses[i];
        }
}

/*---------------------------------------------------------------
        Implements the reading from a CStream capability of
                CSerializable objects
  ---------------------------------------------------------------*/
void CPoses3DSequence::readFromStream(mrpt::utils::CStream& in, int version)
{
        switch (version)
        {
                case 0:
                {
                        uint32_t i, n;

                        // The poses:
                        in >> n;
                        m_poses.resize(n);
                        for (i = 0; i < n; i++) in >> m_poses[i];
                }
                break;
                default:
                        MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)
        };
}

/*---------------------------------------------------------------
Reads the stored pose at index "ind", where the first one is 0, the last
"posesCount() - 1"
 ---------------------------------------------------------------*/
void CPoses3DSequence::getPose(unsigned int ind, CPose3D& outPose)
{
        if (ind >= m_poses.size()) THROW_EXCEPTION("getPose: Index out of range!!");

        outPose = CPose3D(m_poses[ind]);
}

/*---------------------------------------------------------------
Changes the stored pose at index "ind", where the first one is 0, the last
"posesCount() - 1"
 ---------------------------------------------------------------*/
void CPoses3DSequence::changePose(unsigned int ind, CPose3D& inPose)
{
        if (ind >= m_poses.size()) THROW_EXCEPTION("getPose: Index out of range!!");
        m_poses[ind] = inPose;
}

/*---------------------------------------------------------------
        Appends a new pose at the end of sequence. Remember that poses are relative,
 incremental to the last one.
 ---------------------------------------------------------------*/
void CPoses3DSequence::appendPose(CPose3D& newPose)
{
        m_poses.push_back(newPose);
}

/*---------------------------------------------------------------
                        Clears the sequence.
 ---------------------------------------------------------------*/
void CPoses3DSequence::clear() { m_poses.clear(); }
/*---------------------------------------------------------------
 ---------------------------------------------------------------*/
/** Returns the absolute pose of a robot after moving "n" poses, so for "n=0"
 * the origin pose (0,0,0deg) is returned, for "n=1" the first pose is returned,
 * and for "n=posesCount()", the pose
 *  of robot after moving ALL poses is returned, all of them relative to the
 * starting pose.
 */
CPose3D CPoses3DSequence::absolutePoseOf(unsigned int n)
{
        CPose3D ret(0, 0, 0);
        unsigned int i;

        if (n > m_poses.size())
                THROW_EXCEPTION("absolutePoseOf: Index out of range!!");

        for (i = 0; i < n; i++) ret = ret + CPose3D(m_poses[i]);

        return ret;
}

/*---------------------------------------------------------------
        A shortcut for "absolutePoseOf( posesCount() )".
 ---------------------------------------------------------------*/
CPose3D CPoses3DSequence::absolutePoseAfterAll()
{
        return absolutePoseOf(posesCount());
}

/*---------------------------------------------------------------
        Returns the traveled distance after moving "n" poses, so for "n=0" it
 returns 0, for "n=1" the first traveled distance, and for "n=posesCount()", the
 total
        distance after ALL movements.
 ---------------------------------------------------------------*/
float CPoses3DSequence::computeTraveledDistanceAfter(unsigned int n)
{
        unsigned int i;
        float dist = 0;

        if (n > m_poses.size())
                THROW_EXCEPTION("computeTraveledDistanceAfter: Index out of range!!");

        for (i = 0; i < n; i++) dist += m_poses[i].norm();
        return dist;
}

/*---------------------------------------------------------------
        Returns the traveled distance after ALL movements.
        A shortcut for "computeTraveledDistanceAfter( posesCount() )".
 ---------------------------------------------------------------*/
float CPoses3DSequence::computeTraveledDistanceAfterAll()
{
        return computeTraveledDistanceAfter(posesCount());
}