/*---------------------------------------------------------------
readFromStream
---------------------------------------------------------------*/
void CLogFileRecord_ND::readFromStream(mrpt::utils::CStream &in,int version)
{
switch(version)
{
case 0:
{
int32_t n;
in >> n;
gaps_ini.resize(n);
gaps_end.resize(n);
in.ReadBuffer( &(*gaps_ini.begin()), sizeof(gaps_ini[0]) * n );
in.ReadBuffer( &(*gaps_end.begin()), sizeof(gaps_end[0]) * n );
in >> n;
gaps_eval.resize(n);
in.ReadBuffer( &(*gaps_eval.begin()), sizeof(gaps_eval[0]) * n );
in >> selectedSector >> evaluation >> riskEvaluation >> n;
situation = (CHolonomicND::TSituations) n;
} break;
case 1:
{
uint32_t n;
in >> gaps_ini >> gaps_end >> gaps_eval;
in >> selectedSector >> evaluation >> riskEvaluation >> n;
situation = (CHolonomicND::TSituations) n;
} break;
default:
MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)
};
}
/*---------------------------------------------------------------
readFromStream
---------------------------------------------------------------*/
void CMatrixB::readFromStream(mrpt::utils::CStream &in, int version)
{
switch(version)
{
case 0:
{
uint32_t size_bool;
in >> size_bool;
if ( size_bool != sizeof(m_Val[0][0]) )
THROW_EXCEPTION("Error: size of 'bool' is different in serialized data!")
uint32_t nRows,nCols;
// First, write the number of rows and columns:
in >> nRows >> nCols;
setSize(nRows,nCols);
if (nRows>0 && nCols>0)
for (unsigned int i=0;i<nRows;i++)
in.ReadBuffer(m_Val[i],sizeof(m_Val[0][0])*m_Cols);
} break;
default:
MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)
};
}
void CRandomFieldGridMap3D::readFromStream(mrpt::utils::CStream &in, int version)
{
switch (version)
{
case 0:
{
dyngridcommon_readFromStream(in);
// To assure compatibility: The size of each cell:
uint32_t n;
in >> n;
ASSERT_EQUAL_(n, static_cast<uint32_t>(sizeof(TRandomFieldVoxel)));
// Load the map contents:
in >> n;
m_map.resize(n);
// Read the note in writeToStream()
#if MRPT_IS_BIG_ENDIAN
for (uint32_t i = 0; i<n; i++)
in >> m_map[i].mean_value >> m_map[i].stddev_value;
#else
// Little endian: just read all at once:
in.ReadBuffer(&m_map[0], sizeof(m_map[0])*m_map.size());
#endif
in >> insertionOptions.GMRF_lambdaPrior
>> insertionOptions.GMRF_skip_variance;
} break;
default:
MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version);
};
}
/*---------------------------------------------------------------
readFromStream
---------------------------------------------------------------*/
void CMemoryChunk::readFromStream(mrpt::utils::CStream &in, int version)
{
switch(version)
{
case 0:
{
uint64_t N;
in >> N;
resize(N);
m_bytesWritten = N;
m_position = 0;
if (N)
in.ReadBuffer( m_memory.get(), N );
} break;
default:
MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)
};
}
void CRenderizable::readFromStreamRender(mrpt::utils::CStream &in)
{
// MRPT 0.9.5 svn 2774 (Dec 14th 2011):
// See comments in CRenderizable::writeToStreamRender() for the employed serialization mechanism.
//
// Read signature:
union {
uint8_t magic_signature[2+2]; // (the extra 4 bytes will be used only for the old format)
uint32_t magic_signature_uint32; // So we can interpret the 4bytes above as a 32bit number cleanly.
};
in >> magic_signature[0] >> magic_signature[1];
const bool is_new_format = (magic_signature[0]==0xFF) && ((magic_signature[1]&0x80)!=0);
if (is_new_format)
{
// NEW FORMAT:
uint8_t serialization_version = (magic_signature[1] & 0x1F);
const bool all_scales_unity = ((magic_signature[1]&0x40)!=0);
const bool all_scales_equal_but_not_unity = ((magic_signature[1]&0x20)!=0);
switch(serialization_version)
{
case 0:
{
// "m_name"
uint16_t nameLen;
in >> nameLen;
m_name.resize(nameLen);
if (nameLen) in.ReadBuffer((void*)(&m_name[0]),m_name.size());
// Color, as u8:
in >> m_color.R >> m_color.G >> m_color.B >> m_color.A;
// the rest of fields:
float x,y,z,yaw,pitch,roll;
in >> x >> y >> z >> yaw >> pitch >> roll;
m_pose.x(x); m_pose.y(y); m_pose.z(z);
m_pose.setYawPitchRoll( yaw,pitch,roll );
if (all_scales_unity)
m_scale_x=m_scale_y=m_scale_z=1;
else {
if (all_scales_equal_but_not_unity)
{
in >> m_scale_x;
m_scale_y = m_scale_z = m_scale_x;
}
else in >> m_scale_x >> m_scale_y >> m_scale_z;
}
in >> m_show_name
>> m_visible;
}
break;
default:
THROW_EXCEPTION_CUSTOM_MSG1("Can't parse CRenderizable standard data field: corrupt data stream or format in a newer MRPT format? (serialization version=%u)",static_cast<unsigned int>(serialization_version))
};
}
else
{