CObservationWirelessPower.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/CObservationWirelessPower.h>
#include <mrpt/serialization/CArchive.h>
 
using namespace mrpt::obs;
using namespace mrpt::poses;
 
// This must be added to any CSerializable class implementation file.
IMPLEMENTS_SERIALIZABLE(CObservationWirelessPower, CObservation, mrpt::obs)
 
uint8_t CObservationWirelessPower::serializeGetVersion() const { return 3; }
void CObservationWirelessPower::serializeTo(
        mrpt::serialization::CArchive& out) const
{
        out << power << sensorLabel << timestamp << sensorPoseOnRobot;  // in v3
}
 
void CObservationWirelessPower::serializeFrom(
        mrpt::serialization::CArchive& in, uint8_t version)
{
        switch (version)
        {
                case 0:
                case 1:
                case 2:
                case 3:
                {
                        in >> power;
                        if (version >= 1)
                                in >> sensorLabel;
                        else
                                sensorLabel = "";
 
                        if (version >= 2)
                                in >> timestamp;
                        else
                                timestamp = INVALID_TIMESTAMP;
 
                        if (version >= 3)
                                in >> sensorPoseOnRobot;
                        else
                                sensorPoseOnRobot = CPose3D();
                }
                break;
                default:
                        MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)
        };
}
 
void CObservationWirelessPower::getSensorPose(CPose3D& out_sensorPose) const
{
        out_sensorPose = sensorPoseOnRobot;
}
 
void CObservationWirelessPower::setSensorPose(const CPose3D& newSensorPose)
{
        sensorPoseOnRobot = newSensorPose;
}
 
void CObservationWirelessPower::getDescriptionAsText(std::ostream& o) const
{
        CObservation::getDescriptionAsText(o);
        o << format("Measured Power: %.02f/100\n", power);
}