sensorlog.cpp

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#include "gmapping/log/sensorlog.h"

#include <iostream>
#include <sstream>
#include <assert.h>
#include <gmapping/sensor/sensor_odometry/odometrysensor.h>
#include <gmapping/sensor/sensor_range/rangesensor.h>

#define LINEBUFFER_SIZE 100000

namespace GMapping {

using namespace std;

SensorLog::SensorLog(const SensorMap& sm): m_sensorMap(sm){
}

SensorLog::~SensorLog(){
        for (iterator it=begin(); it!=end(); it++)
                if (*it) delete (*it);
}

istream& SensorLog::load(istream& is){
        for (iterator it=begin(); it!=end(); it++)
                if (*it) delete (*it);
        clear();
        
        char buf[LINEBUFFER_SIZE];
        while (is){
                is.getline(buf, LINEBUFFER_SIZE);
                istringstream lis(buf);
                
                string sensorname;
                
                if (lis) 
                        lis >>sensorname; 
                else 
                        continue;
                
                
                        
                SensorMap::const_iterator it=m_sensorMap.find(sensorname);
                if (it==m_sensorMap.end()){
                        continue;
                }
                
                Sensor* sensor=it->second;
                
                SensorReading* reading=0;
                OdometrySensor* odometry=dynamic_cast<OdometrySensor*>(sensor);
                if (odometry)
                        reading=parseOdometry(lis, odometry);
                
                RangeSensor* range=dynamic_cast<RangeSensor*>(sensor);
                if (range)
                        reading=parseRange(lis, range);
                if (reading)
                        push_back(reading);
        }
        return is;
        
}

OdometryReading* SensorLog::parseOdometry(istream& is, const OdometrySensor* osen) const{
        OdometryReading* reading=new OdometryReading(osen);
        OrientedPoint pose;
        OrientedPoint speed;
        OrientedPoint accel;
        is >> pose.x >> pose.y >> pose.theta;
        is >> speed.x >>speed.theta;
        speed.y=0;
        is >> accel.x;
        accel.y=accel.theta=0;
        reading->setPose(pose); reading->setSpeed(speed); reading->setAcceleration(accel);
        return reading;
}

RangeReading* SensorLog::parseRange(istream& is, const RangeSensor* rs) const{
        if(rs->newFormat){
                string laser_type, start_angle, field_of_view, angular_resolution, maximum_range, accuracy, remission_mode;
                is >> laser_type>> start_angle>> field_of_view>> angular_resolution>> maximum_range>> accuracy >> remission_mode;
        }
        
        unsigned int size;
        is >> size;
        assert(size==rs->beams().size());
        
        RangeReading* reading=new RangeReading(rs);
        //cerr << "#R=" << size << endl;
        reading->resize(size);
        for (unsigned int i=0; i<size; i++){
                is >> (*reading)[i];
        }
        if (rs->newFormat){
                int reflectionBeams;
                is >> reflectionBeams;
                double reflection;
                for (int i=0; i<reflectionBeams; i++)
                        is >> reflection;
        }
        //FIXME XXX
        OrientedPoint laserPose;
        is >> laserPose.x >> laserPose.y >> laserPose.theta;
        OrientedPoint pose;
        is >> pose.x >> pose.y >> pose.theta; 
        reading->setPose(pose);
        double a,b,c;
        if (rs->newFormat){
                string laser_tv, laser_rv, forward_safety_dist, side_safty_dist, turn_axis;
                is >> laser_tv >> laser_rv >> forward_safety_dist >> side_safty_dist >> turn_axis;
        } else {
                is >> a >> b >> c;
        }
        string s;
        is >> a >> s;
        is >> a;
        reading->setTime(a);
        return reading;
}

OrientedPoint SensorLog::boundingBox(double& xmin, double& ymin, double& xmax, double& ymax) const {
        xmin=ymin=1e6;
        xmax=ymax=-1e6;
        bool first=true;
        OrientedPoint start;
        for (const_iterator it=begin(); it!=end(); it++){
                double lxmin=0., lxmax=0., lymin=0., lymax=0.;
                const SensorReading* reading=*it;
                const OdometryReading* odometry=dynamic_cast<const OdometryReading*> (reading);
                if (odometry){
                        lxmin=lxmax=odometry->getPose().x;
                        lymin=lymax=odometry->getPose().y;
                }
                
                const RangeReading* rangeReading=dynamic_cast<const RangeReading*> (reading);
                if (rangeReading){
                        lxmin=lxmax=rangeReading->getPose().x;
                        lymin=lymax=rangeReading->getPose().y;
                        if (first){
                                first=false;
                                start=rangeReading->getPose();  
                        }
                }
                xmin=xmin<lxmin?xmin:lxmin;
                xmax=xmax>lxmax?xmax:lxmax;
                ymin=ymin<lymin?lymin:lymin;
                ymax=ymax>lymax?ymax:lymax;
        }
        return start;
}

};