CObservationBeaconRanges.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, 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/serialization/CArchive.h>
#include <mrpt/obs/CObservationBeaconRanges.h>
#include <mrpt/system/os.h>

using namespace mrpt::obs;
using namespace mrpt::poses;

// This must be added to any CSerializable class implementation file.
IMPLEMENTS_SERIALIZABLE(CObservationBeaconRanges, CObservation, mrpt::obs)

/** Default constructor.
 */
CObservationBeaconRanges::CObservationBeaconRanges()
    : minSensorDistance(0),
      maxSensorDistance(1e2f),
      stdError(1e-2f),
      sensedData(),
      auxEstimatePose()
{
}

uint8_t CObservationBeaconRanges::serializeGetVersion() const { return 3; }
void CObservationBeaconRanges::serializeTo(
    mrpt::serialization::CArchive& out) const
{
    uint32_t i, n;
    // The data
    out << minSensorDistance << maxSensorDistance << stdError;
    n = sensedData.size();
    out << n;
    for (i = 0; i < n; i++)
        out << sensedData[i].sensorLocationOnRobot
            << sensedData[i].sensedDistance << sensedData[i].beaconID;
    out << auxEstimatePose;
    out << sensorLabel << timestamp;
}

void CObservationBeaconRanges::serializeFrom(
    mrpt::serialization::CArchive& in, uint8_t version)
{
    switch (version)
    {
        case 0:
        case 1:
        case 2:
        case 3:
        {
            uint32_t i, n, id;

            // The data
            in >> minSensorDistance >> maxSensorDistance >> stdError;

            in >> n;
            sensedData.resize(n);
            for (i = 0; i < n; i++)
            {
                in >> sensedData[i].sensorLocationOnRobot >>
                    sensedData[i].sensedDistance;
                in >> id;
                sensedData[i].beaconID = id;
            }

            if (version >= 1) in >> auxEstimatePose;

            if (version >= 2)
                in >> sensorLabel;
            else
                sensorLabel = "";

            if (version >= 3)
                in >> timestamp;
            else
                timestamp = INVALID_TIMESTAMP;
        }
        break;
        default:
            MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)
    };
}

void CObservationBeaconRanges::debugPrintOut()
{
    printf("[CObservationBeaconRanges::debugPrintOut] Dumping:\n");
    printf(
        "[CObservationBeaconRanges::debugPrintOut] minSensorDistance:\t%f\n",
        minSensorDistance);
    printf(
        "[CObservationBeaconRanges::debugPrintOut] maxSensorDistance:\t%f:\n",
        maxSensorDistance);
    printf(
        "[CObservationBeaconRanges::debugPrintOut] stdError:\t%f\n", stdError);
    printf(
        "[CObservationBeaconRanges::debugPrintOut] %u ranges:\n",
        static_cast<unsigned>(sensedData.size()));

    size_t i, n = sensedData.size();
    for (i = 0; i < n; i++)
        printf(
            "[CObservationBeaconRanges::debugPrintOut] \tID[%u]: %f\n",
            sensedData[i].beaconID, sensedData[i].sensedDistance);
}

/*---------------------------------------------------------------
                     getSensorPose
 ---------------------------------------------------------------*/
void CObservationBeaconRanges::getSensorPose(CPose3D& out_sensorPose) const
{
    if (!sensedData.empty())
        out_sensorPose = CPose3D(sensedData[0].sensorLocationOnRobot);
    else
        out_sensorPose = CPose3D(0, 0, 0);
}

/*---------------------------------------------------------------
                     setSensorPose
 ---------------------------------------------------------------*/
void CObservationBeaconRanges::setSensorPose(const CPose3D& newSensorPose)
{
    size_t i, n = sensedData.size();
    if (n)
        for (i = 0; i < n; i++)
            sensedData[i].sensorLocationOnRobot = CPoint3D(newSensorPose);
}

/*---------------------------------------------------------------
                     getSensedRangeByBeaconID
 ---------------------------------------------------------------*/
float CObservationBeaconRanges::getSensedRangeByBeaconID(int32_t beaconID)
{
    for (size_t i = 0; i < sensedData.size(); i++)
        if (sensedData[i].beaconID == beaconID)
            return sensedData[i].sensedDistance;
    return 0;
}

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

    o << "Auxiliary estimated pose (if available): " << auxEstimatePose << endl;

    o << format("minSensorDistance=%f m\n", minSensorDistance);
    o << format("maxSensorDistance=%f m\n", maxSensorDistance);
    o << format("stdError=%f m\n\n", stdError);

    o << format(
        "There are %u range measurements:\n\n", (unsigned)sensedData.size());

    o << "  BEACON   RANGE     SENSOR POSITION ON ROBOT \n";
    o << "------------------------------------------------\n";
    for (deque<CObservationBeaconRanges::TMeasurement>::const_iterator it =
             sensedData.begin();
         it != sensedData.end(); it++)
    {
        o << format(
            "   %i      %.04f      (%.03f,%.03f,%.03f)\n", (int)it->beaconID,
            it->sensedDistance, it->sensorLocationOnRobot.x(),
            it->sensorLocationOnRobot.y(), it->sensorLocationOnRobot.z());
    }
}