obs_utils.h

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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 |
   +------------------------------------------------------------------------+ */
 
#ifndef OBS_UTILS_H
#define OBS_UTILS_H
 
#include <mrpt/obs/CSensoryFrame.h>
#include <mrpt/obs/CObservation.h>
 
namespace mrpt
{
namespace obs
{
namespace utils
{
/**\brief Given an mrpt::obs::CSensoryFrame and a mrpt::obs::CObservation
 * pointer if a OBSERVATION_T type observation is included and return a
 * pointer to that instance.
 *
 * \note Pointer to a single instance is going to be returned. If a suitable
 * observation exists in both the CSensoryFrame and CObservation the outcome
 * is decided by the \a priority_to_sf flag
 *
 * \return Pointer to the observation of the given type. Otherwise, an empty
 * Ptr object is returned if a valid observation is not found.
 *
 * \ingroup mrpt_obs_grp
 */
template <class OBSERVATION_T>
typename OBSERVATION_T::Ptr getObservation(
        mrpt::obs::CSensoryFrame::Ptr& observations,
        mrpt::obs::CObservation::Ptr& observation, bool priority_to_sf = true)
{
        using obs_t = typename OBSERVATION_T::Ptr;
 
        obs_t cobs_ptr;
        obs_t sf_ptr;
        obs_t obs_out;
 
        // CObservation
        const mrpt::rtti::TRuntimeClassId* class_ID =
                &OBSERVATION_T::GetRuntimeClassIdStatic();
        if (observation && observation->GetRuntimeClass()->derivedFrom(class_ID))
        {
                cobs_ptr = std::dynamic_pointer_cast<OBSERVATION_T>(observation);
        }
 
        // CSensoryFrame
        if (observations)
        {
                cobs_ptr = observations->getObservationByClass<OBSERVATION_T>();
        }
 
        // decide on which one to return
        if (cobs_ptr && sf_ptr)
        {
                obs_out = priority_to_sf ? sf_ptr : cobs_ptr;
        }
        else if (cobs_ptr)
        {
                obs_out = cobs_ptr;
        }
        else if (sf_ptr)
        {
                obs_out = sf_ptr;
        }
        else
        {
                obs_out = typename OBSERVATION_T::Ptr();
        }
 
        return obs_out;
}
}
}
}  // end of namespaces
 
#endif /* end of include guard: OBS_UTILS_H */