void RobotConfiguration::serialize(ObjectData& data, IdContext& /*context*/) {
/*Serializable::serialize(data,context);*/
data.setString("name", _name);
data.setString("baseReferenceFrameId", _baseReferenceFrameId);
ArrayData* frameArray = new ArrayData;
for (std::map<std::string, ReferenceFrame*>::iterator it = _frameMap.begin(); it!=_frameMap.end(); it++){
ReferenceFrame* frame=it->second;
frameArray->add(new PointerData(frame));
cerr << "adding frame:" << it->second->name() << endl;
}
data.setField("frames", frameArray);
ArrayData* sensorArray = new ArrayData;
for (std::map<std::string, BaseSensor*>::iterator it = _sensorMap.begin(); it!=_sensorMap.end(); it++){
BaseSensor* sensor=it->second;
sensorArray->add(new PointerData(sensor));
cerr << "adding sensor:" << it->second->topic() << endl;
}
data.setField("sensors", sensorArray);
}
void TwoDepthImageAlignerNode::Relation::serialize(ObjectData& data, IdContext& context) {
MapNodeBinaryRelation::serialize(data,context);
data.setPointer("aligner", _aligner);
data.setPointer("converter", _converter);
data.setPointer("currentSensingFrame", _currentSensingFrame);
data.setPointer("referenceSensingFrame", _referenceSensingFrame);
data.setString("topic", _topic);
data.setInt("inliers", _inliers);
data.setFloat("error", _error);
}
void PinholeImageSensor::serialize(ObjectData& data, IdContext& context){
BaseSensor::serialize(data, context);
_cameraMatrix.toBOSS(data, "cameraMatrix");
data.setString("distortionModel", _distortionModel);
_distortionParameters.toBOSS(data,"distortionParameters");
}
void BaseSensor::serialize(ObjectData& data, IdContext& context){
Identifiable::serialize(data,context);
data.setString("topic", _topic);
data.setPointer("frame", _frame);
}
void SensorDataNodeMaker::serialize(ObjectData& data, IdContext& context) {
StreamProcessor::serialize(data,context);
data.setPointer("manager",_mapManager);
data.setString("topic", _topic);
}