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";
}