calibration_info.cpp

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#include <tesseract_common/macros.h>
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
#include <boost/serialization/access.hpp>
#include <boost/serialization/map.hpp>
#include <boost/serialization/nvp.hpp>
TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
#include <tesseract_common/eigen_serialization.h>
 
#include <tesseract_common/calibration_info.h>
#include <tesseract_common/utils.h>
 
namespace tesseract_common
{
void CalibrationInfo::insert(const CalibrationInfo& other)
{
  for (const auto& joint : other.joints)
    joints[joint.first] = joint.second;
}
 
void CalibrationInfo::clear() { joints.clear(); }
 
bool CalibrationInfo::empty() const { return joints.empty(); }
 
bool CalibrationInfo::operator==(const CalibrationInfo& rhs) const
{
  auto isometry_equal = [](const Eigen::Isometry3d& iso_1, const Eigen::Isometry3d& iso_2) {
    return iso_1.isApprox(iso_2, 1e-5);
  };
 
  bool equal = true;
  equal &= tesseract_common::isIdenticalMap<TransformMap, Eigen::Isometry3d>(joints, rhs.joints, isometry_equal);
 
  return equal;
}
bool CalibrationInfo::operator!=(const CalibrationInfo& rhs) const { return !operator==(rhs); }
 
template <class Archive>
void CalibrationInfo::serialize(Archive& ar, const unsigned int /*version*/)
{
  ar& BOOST_SERIALIZATION_NVP(joints);
}
}  // namespace tesseract_common
 
#include <tesseract_common/serialization.h>
TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_common::CalibrationInfo)
BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_common::CalibrationInfo)