Representations/Cognition/RobotPoseCollection.cpp

Go to the documentation of this file.

/**
 * @author Carsten Rohde
 * @author <a href="mailto:Thorsten.Kerkhof@gmx.de">Thorsten Kerkhof</a>
 */

//---------------------------------------------------------------------------------------
#include "RobotPoseCollection.h"
//---------------------------------------------------------------------------------------
RobotPoseCollection::RobotPoseCollection()
:    numberOfPoses(3),
    numberOfUsedPoses(0)
{
}
//---------------------------------------------------------------------------------------
//int RobotPoseCollection::read(In& stream, int length)
//{
//  int s = sizeof(this->poses[0].translation.x)
//        + sizeof(this->poses[0].translation.y)
//        + sizeof(this->poses[0].rotation)
//        + sizeof(this->poses[0].validity);
//  int n = length/s;
//  numberOfUsedPoses = n;
//  int i;
//  for (i = 0; i < numberOfPoses; i++)
//    this->poses[i].validity = 0;
//  for (i = 0; i < numberOfPoses; i++)
//  {
//    stream >> this->poses[i].translation.x;
//    stream >> this->poses[i].translation.y;
//    stream >> this->poses[i].rotation;
//    stream >> this->poses[i].validity;
//  }
//  return length;
//}
////---------------------------------------------------------------------------------------
//void RobotPoseCollection::write(Out& stream)
//{
//  numberOfUsedPoses = 0;
//  for (int i = 0; i < numberOfPoses; i++)
//  {
//    if (poses[i].validity != 0)
//    {
//      numberOfUsedPoses++;
//      stream << this->poses[i].translation.x;
//      stream << this->poses[i].translation.y;
//      stream << this->poses[i].rotation;
//      stream << this->poses[i].validity;
//    }
//  }
//}
////---------------------------------------------------------------------------------------

Out& operator<<(Out& stream, const RobotPoseCollection& rpc)
{
   // find out number of valid poses
   int numberOfUsedPoses = 0;
   for (int i = 0; i < rpc.numberOfPoses; i++)
   {
     if (rpc.poses[i].validity != 0) numberOfUsedPoses++;
   }
   stream << numberOfUsedPoses;
   for (int i = 0; i < rpc.numberOfPoses; i++)
   {
     if (rpc.poses[i].validity != 0) 
     {
       stream << rpc.poses[i].translation.x;
       stream << rpc.poses[i].translation.y;
       stream << rpc.poses[i].rotation;
       stream << rpc.poses[i].validity;
     }
   }
   return stream;
}

In& operator>>(In& stream, RobotPoseCollection& rpc)
{
   stream >> rpc.numberOfUsedPoses;
   for (int i = 0; i < rpc.numberOfPoses; i++) rpc.poses[i].validity = 0;
   for (int i = 0; i < rpc.numberOfUsedPoses; i++) 
   {
     stream >> rpc.poses[i].translation.x;
     stream >> rpc.poses[i].translation.y;
     stream >> rpc.poses[i].rotation;
     stream >> rpc.poses[i].validity;
   }
   return stream;
}

---