metric_map_types.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/config/CLoadableOptions.h>
#include <mrpt/config/CConfigFileBase.h>
#include <mrpt/maps/metric_map_types.h>
 
using namespace mrpt::obs;
using namespace mrpt::maps;
 
IMPLEMENTS_SERIALIZABLE(TMapGenericParams, CSerializable, mrpt::maps)
 
void TMapGenericParams::loadFromConfigFile(
        const mrpt::config::CConfigFileBase& source, const std::string& sct)
{
        MRPT_LOAD_CONFIG_VAR(enableSaveAs3DObject, bool, source, sct);
        MRPT_LOAD_CONFIG_VAR(enableObservationLikelihood, bool, source, sct);
        MRPT_LOAD_CONFIG_VAR(enableObservationInsertion, bool, source, sct);
}
void TMapGenericParams::saveToConfigFile(
        mrpt::config::CConfigFileBase& c,
        const std::string& s) const
{
        // Common:
        MRPT_SAVE_CONFIG_VAR_COMMENT(enableSaveAs3DObject, "");
        MRPT_SAVE_CONFIG_VAR_COMMENT(enableObservationLikelihood, "");
        MRPT_SAVE_CONFIG_VAR_COMMENT(enableObservationInsertion, "");
}
 
uint8_t TMapGenericParams::serializeGetVersion() const { return 0; }
void TMapGenericParams::serializeTo(mrpt::serialization::CArchive& out) const
{
        out << enableSaveAs3DObject << enableObservationLikelihood
                << enableObservationInsertion;
}
void TMapGenericParams::serializeFrom(
        mrpt::serialization::CArchive& in, uint8_t version)
{
        switch (version)
        {
                case 0:
                {
                        in >> enableSaveAs3DObject >> enableObservationLikelihood >>
                                enableObservationInsertion;
                }
                break;
                default:
                        MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)
        };
}