std::string
PoseFeatureObs::toString() const
{
stringstream ss;
ss << "PSE [r="<<range()<<", b="<<bearing()*180.0/M_PI<<"deg, o="<<orientation()*180.0/M_PI<<"deg]"
<< "(t="<<featureType()<<",pf="<<pFalsePositive()<<",pt="<<pTruePositive()<<",sd="<<rangeSd()<<","<<bearingSd()*180.0/M_PI<<"deg"<<orientationSd()*180.0/M_PI<<"deg)";
return ss.str();
}
std::string
LineFeatureObs::toString() const
{
stringstream ss;
ss << "LIN s=["<<rangeStart()<<","<<bearingStart()*180.0/M_PI<<"deg],e=["
<< rangeEnd()<<","<<bearingEnd()*180.0/M_PI<<"deg] "
<< "(t="<<featureType()<<",pf="<<pFalsePositive()<<",pt="<<pTruePositive()<<")";
ss << endl << " (rho="<<rho()<<",a="<<alpha()*180.0/M_PI<<"deg), sd=("<<rhoSd()<<","<<alphaSd()*180.0/M_PI<<"deg)";
return ss.str();
}
/* Load the feature stats */
BOOL loadFeatureStats(const char *pFeatureData, UDWORD bufferSize)
{
FEATURE_STATS *psFeature;
unsigned int i;
char featureName[MAX_STR_LENGTH], GfxFile[MAX_STR_LENGTH],
type[MAX_STR_LENGTH];
numFeatureStats = numCR(pFeatureData, bufferSize);
// Skip descriptive header
if (strncmp(pFeatureData,"Feature ",8)==0)
{
pFeatureData = strchr(pFeatureData,'\n') + 1;
numFeatureStats--;
}
asFeatureStats = (FEATURE_STATS*)malloc(sizeof(FEATURE_STATS) * numFeatureStats);
if (asFeatureStats == NULL)
{
debug( LOG_FATAL, "Feature Stats - Out of memory" );
abort();
return false;
}
psFeature = asFeatureStats;
for (i = 0; i < numFeatureStats; i++)
{
UDWORD Width, Breadth;
int damageable = 0, tileDraw = 0, allowLOS = 0, visibleAtStart = 0;
memset(psFeature, 0, sizeof(FEATURE_STATS));
featureName[0] = '\0';
GfxFile[0] = '\0';
type[0] = '\0';
//read the data into the storage - the data is delimeted using comma's
sscanf(pFeatureData, "%[^','],%d,%d,%d,%d,%d,%[^','],%[^','],%d,%d,%d",
featureName, &Width, &Breadth,
&damageable, &psFeature->armourValue, &psFeature->body,
GfxFile, type, &tileDraw, &allowLOS,
&visibleAtStart);
psFeature->damageable = damageable;
psFeature->tileDraw = tileDraw;
psFeature->allowLOS = allowLOS;
psFeature->visibleAtStart = visibleAtStart;
// These are now only 16 bits wide - so we need to copy them
psFeature->baseWidth = Width;
psFeature->baseBreadth = Breadth;
psFeature->pName = allocateName(featureName);
if (!psFeature->pName)
{
return false;
}
if (psFeature->damageable && psFeature->body == 0)
{
debug(LOG_ERROR, "The feature %s, ref %d, is damageable, but has no body points! The files need to be updated / fixed. " \
"Assigning 1 body point to feature.", psFeature->pName, psFeature->ref);
psFeature->body = 1;
}
//determine the feature type
featureType(psFeature, type);
//and the oil resource - assumes only one!
if (psFeature->subType == FEAT_OIL_RESOURCE)
{
oilResFeature = psFeature;
}
//get the IMD for the feature
psFeature->psImd = (iIMDShape *) resGetData("IMD", GfxFile);
if (psFeature->psImd == NULL)
{
debug( LOG_ERROR, "Cannot find the feature PIE for record %s", getName( psFeature->pName ) );
return false;
}
psFeature->ref = REF_FEATURE_START + i;
//increment the pointer to the start of the next record
pFeatureData = strchr(pFeatureData,'\n') + 1;
//increment the list to the start of the next storage block
psFeature++;
}
return true;
}