metric_map_types.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/utils/CLoadableOptions.h>
#include <mrpt/utils/CConfigFileBase.h>
#include <mrpt/maps/metric_map_types.h>

using namespace mrpt::obs;
using namespace mrpt::maps;
using namespace mrpt::utils;

IMPLEMENTS_SERIALIZABLE(TMapGenericParams, CSerializable, mrpt::maps)

TMapGenericParams::TMapGenericParams()
        : enableSaveAs3DObject(true),
          enableObservationLikelihood(true),
          enableObservationInsertion(true)
{
}

void TMapGenericParams::loadFromConfigFile(
        const mrpt::utils::CConfigFileBase& source, const std::string& sct)
{
        MRPT_LOAD_CONFIG_VAR(enableSaveAs3DObject, bool, source, sct);
        MRPT_LOAD_CONFIG_VAR(enableObservationLikelihood, bool, source, sct);
        MRPT_LOAD_CONFIG_VAR(enableObservationInsertion, bool, source, sct);
}
void TMapGenericParams::dumpToTextStream(mrpt::utils::CStream& out) const
{
        // Common:
        LOADABLEOPTS_DUMP_VAR(enableSaveAs3DObject, bool);
        LOADABLEOPTS_DUMP_VAR(enableObservationLikelihood, bool);
        LOADABLEOPTS_DUMP_VAR(enableObservationInsertion, bool);
}

void TMapGenericParams::writeToStream(
        mrpt::utils::CStream& out, int* version) const
{
        if (version)
                *version = 0;
        else
        {
                out << enableSaveAs3DObject << enableObservationLikelihood
                        << enableObservationInsertion;
        }
}

void TMapGenericParams::readFromStream(mrpt::utils::CStream& in, int version)
{
        switch (version)
        {
                case 0:
                {
                        in >> enableSaveAs3DObject >> enableObservationLikelihood >>
                                enableObservationInsertion;
                }
                break;
                default:
                        MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)
        };
}