CObservationOdometry.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/obs/CObservationOdometry.h>
#include <mrpt/serialization/CArchive.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(CObservationOdometry, CObservation, mrpt::obs)

/** Constructor
 */
CObservationOdometry::CObservationOdometry()
    : odometry(),
      hasEncodersInfo(false),
      encoderLeftTicks(0),
      encoderRightTicks(0),
      hasVelocities(false),
      velocityLocal(.0, .0, .0)
{
}

uint8_t CObservationOdometry::serializeGetVersion() const { return 2; }
void CObservationOdometry::serializeTo(mrpt::serialization::CArchive& out) const
{
    // The data
    out << odometry << sensorLabel << timestamp
        // Added in V1:
        << hasEncodersInfo;
    if (hasEncodersInfo) out << encoderLeftTicks << encoderRightTicks;
    out << hasVelocities;
    if (hasVelocities) out << velocityLocal;
}

void CObservationOdometry::serializeFrom(
    mrpt::serialization::CArchive& in, uint8_t version)
{
    MRPT_UNUSED_PARAM(in);
    switch (version)
    {
        case 0:
        case 1:
        case 2:
        {
            in >> odometry >> sensorLabel >> timestamp;

            if (version >= 1)
            {
                in >> hasEncodersInfo;
                if (hasEncodersInfo || version < 2)
                    in >> encoderLeftTicks >> encoderRightTicks;

                in >> hasVelocities;
                if (version < 2)
                {
                    float vx, w;
                    in >> vx >> w;
                    velocityLocal.vx = vx;
                    velocityLocal.vy = .0;
                    velocityLocal.omega = w;
                }
                else
                {  // v2
                    if (hasVelocities) in >> velocityLocal;
                }
            }
            else
            {
                hasEncodersInfo = false;
                encoderLeftTicks = encoderRightTicks = 0;
                hasVelocities = false;
            }
        }
        break;
        default:
            MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)
    };
}

void CObservationOdometry::getDescriptionAsText(std::ostream& o) const
{
    CObservation::getDescriptionAsText(o);

    o << std::endl << "Odometry reading: " << odometry << std::endl;

    // Additional data:
    if (hasEncodersInfo)
    {
        o << format(
            " Encoder info: deltaL=%i deltaR=%i\n", encoderLeftTicks,
            encoderRightTicks);
    }
    else
        o << "Encoder info: Not available!\n";

    if (hasVelocities)
    {
        o << format("Velocity info: %s\n", velocityLocal.asString().c_str());
    }
    else
        o << "Velocity info: Not available!\n";
}