CEllipsoidRangeBearing2D.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 "opengl-precomp.h"  // Precompiled header
 
#include <mrpt/opengl/CEllipsoidRangeBearing2D.h>
#include <mrpt/serialization/CArchive.h>
 
using namespace mrpt;
using namespace mrpt::opengl;
 
using namespace mrpt::math;
using namespace std;
 
IMPLEMENTS_SERIALIZABLE(
        CEllipsoidRangeBearing2D, CRenderizableDisplayList, mrpt::opengl)
 
/*---------------------------------------------------------------
                                                        transformFromParameterSpace
  ---------------------------------------------------------------*/
void CEllipsoidRangeBearing2D::transformFromParameterSpace(
        const std::vector<BASE::array_parameter_t>& in_pts,
        std::vector<BASE::array_point_t>& out_pts) const
{
        MRPT_START
 
        // (range,bearing) --> (x,y)
        const size_t N = in_pts.size();
        out_pts.resize(N);
        for (size_t i = 0; i < N; i++)
        {
                const double range = in_pts[i][0];
                const double bearing = in_pts[i][1];
                out_pts[i][0] = range * cos(bearing);
                out_pts[i][1] = range * sin(bearing);
        }
 
        MRPT_END
}
 
uint8_t CEllipsoidRangeBearing2D::serializeGetVersion() const { return 0; }
void CEllipsoidRangeBearing2D::serializeTo(
        mrpt::serialization::CArchive& out) const
{
        writeToStreamRender(out);
        BASE::thisclass_writeToStream(out);
}
 
void CEllipsoidRangeBearing2D::serializeFrom(
        mrpt::serialization::CArchive& in, uint8_t version)
{
        switch (version)
        {
                case 0:
                {
                        readFromStreamRender(in);
                        BASE::thisclass_readFromStream(in);
                }
                break;
                default:
                        MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)
        };
        CRenderizableDisplayList::notifyChange();
}