MRPT  1.9.9
CObservationRobotPose.cpp
Go to the documentation of this file.
1 /* +------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | https://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2019, Individual contributors, see AUTHORS file |
6  | See: https://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See: https://www.mrpt.org/License |
8  +------------------------------------------------------------------------+ */
9 
10 #include "obs-precomp.h" // Precompiled headers
11 
15 #include <mrpt/system/os.h>
16 
17 using namespace mrpt::obs;
18 using namespace mrpt::poses;
19 
20 // This must be added to any CSerializable class implementation file.
22 
23 uint8_t CObservationRobotPose::serializeGetVersion() const { return 0; }
26 {
27  out << pose;
28  out << sensorLabel << timestamp;
29 }
30 
33 {
34  switch (version)
35  {
36  case 0:
37  {
38  in >> pose;
39  in >> sensorLabel >> timestamp;
40  }
41  break;
42  default:
44  };
45 }
46 
47 void CObservationRobotPose::getSensorPose(CPose3D& out_sensorPose) const
48 {
49  out_sensorPose = sensorPose;
50 }
51 
53 {
54  sensorPose = newSensorPose;
55 }
56 
58 {
59  using namespace std;
61 
62  o << "Sensor pose: " << sensorPose << endl;
63  o << "Pose: " << pose.asString() << endl;
64 }
#define IMPLEMENTS_SERIALIZABLE(class_name, base, NameSpace)
To be added to all CSerializable-classes implementation files.
An observation providing an alternative robot pose from an external source.
void serializeTo(mrpt::serialization::CArchive &out) const override
Pure virtual method for writing (serializing) to an abstract archive.
STL namespace.
void setSensorPose(const mrpt::poses::CPose3D &newSensorPose) override
A general method to change the sensor pose on the robot.
void serializeFrom(mrpt::serialization::CArchive &in, uint8_t serial_version) override
Pure virtual method for reading (deserializing) from an abstract archive.
unsigned char uint8_t
Definition: rptypes.h:44
#define MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(__V)
For use in CSerializable implementations.
Definition: exceptions.h:97
This namespace contains representation of robot actions and observations.
Classes for 2D/3D geometry representation, both of single values and probability density distribution...
Virtual base class for "archives": classes abstracting I/O streams.
Definition: CArchive.h:53
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
Definition: CPose3D.h:84
Declares a class that represents any robot&#39;s observation.
Definition: CObservation.h:43
void getDescriptionAsText(std::ostream &o) const override
Build a detailed, multi-line textual description of the observation contents and dump it to the outpu...
This file implements matrix/vector text and binary serialization.
GLuint in
Definition: glext.h:7391
void getSensorPose(mrpt::poses::CPose3D &out_sensorPose) const override
A general method to retrieve the sensor pose on the robot.
virtual void getDescriptionAsText(std::ostream &o) const
Build a detailed, multi-line textual description of the observation contents and dump it to the outpu...



Page generated by Doxygen 1.8.14 for MRPT 1.9.9 Git: 582f6a819 Mon Jul 22 16:41:38 2019 -0700 at mar jul 23 01:50:13 CEST 2019