void CPTG_RobotShape_Polygonal::setRobotShape(
const mrpt::math::CPolygon& robotShape)
{
ASSERT_ABOVEEQ_(robotShape.size(), 3u);
m_robotShape = robotShape;
m_robotMaxRadius = .0; // Default minimum
for (const auto& v : m_robotShape)
mrpt::utils::keep_max(m_robotMaxRadius, v.norm());
internal_processNewRobotShape();
}
/*---------------------------------------------------------------
loadFromFile
---------------------------------------------------------------*/
bool CParameterizedTrajectoryGenerator::CColisionGrid::loadFromFile( CStream *f, const mrpt::math::CPolygon & current_robotShape )
{
try
{
if (!f) return false;
// Return false if the file contents doesn't match what we expected:
uint32_t file_magic;
*f >> file_magic;
// It doesn't seem to be a valid file or was in an old format, just recompute the grid:
if (COLGRID_FILE_MAGIC!=file_magic)
return false;
uint8_t serialized_version;
*f >> serialized_version;
switch (serialized_version)
{
case 2:
{
mrpt::math::CPolygon stored_shape;
*f >> stored_shape;
const bool shapes_match =
( stored_shape.size()==current_robotShape.size() &&
std::equal(stored_shape.begin(),stored_shape.end(), current_robotShape.begin() ) );
if (!shapes_match) return false; // Must recompute if the robot shape changed.
}
break;
case 1:
default:
// Unknown version: Maybe we are loading a file from a more recent version of MRPT? Whatever, we can't read it: It's safer just to re-generate the PTG data
return false;
};
// Standard PTG data:
const std::string expected_desc = m_parent->getDescription();
std::string desc;
*f >> desc;
if (desc!=expected_desc) return false;
// and standard PTG data:
float ff;
uint16_t nAlphaStored;
*f >> nAlphaStored; if (nAlphaStored!=m_parent->getAlfaValuesCount()) return false;
*f >> ff; if (ff!=m_parent->getMax_V()) return false;
*f >> ff; if (ff!=m_parent->getMax_W()) return false;
// Cell dimensions:
*f >> ff; if(ff!=m_x_min) return false;
*f >> ff; if(ff!=m_x_max) return false;
*f >> ff; if(ff!=m_y_min) return false;
*f >> ff; if(ff!=m_y_max) return false;
*f >> ff; if(ff!=m_resolution) return false;
// OK, all parameters seem to be exactly the same than when we precomputed the table: load it.
//v1 was: *f >> m_map;
uint32_t N;
*f >> N;
m_map.resize(N);
for (uint32_t i=0;i<N;i++)
{
uint32_t M;
*f >> M;
m_map[i].resize(M);
for (uint32_t k=0;k<M;k++)
*f >> m_map[i][k].first >> m_map[i][k].second;
}
return true;
}
catch(std::exception &e)
{
std::cerr << "[CColisionGrid::loadFromFile] " << e.what();
return false;
}
catch(...)
{
return false;
}
}