61 lines
1.3 KiB
C++
61 lines
1.3 KiB
C++
// Copyright (c) 2019 Computer Vision Center (CVC) at the Universitat Autonoma
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// de Barcelona (UAB).
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//
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// This work is licensed under the terms of the MIT license.
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// For a copy, see <https://opensource.org/licenses/MIT>.
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#pragma once
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#include "carla/Buffer.h"
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#include "carla/Memory.h"
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#include "carla/sensor/RawData.h"
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namespace carla {
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namespace sensor {
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class SensorData;
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namespace s11n {
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class IMUSerializer
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{
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public:
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struct Data {
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geom::Vector3D accelerometer;
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geom::Vector3D gyroscope;
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float compass;
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MSGPACK_DEFINE_ARRAY(accelerometer, gyroscope, compass)
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};
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template <typename SensorT>
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static Buffer Serialize(
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const SensorT &sensor,
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const geom::Vector3D &accelerometer,
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const geom::Vector3D &gyroscope,
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const float compass);
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static Data DeserializeRawData(const RawData &message) {
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return MsgPack::UnPack<Data>(message.begin(), message.size());
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}
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static SharedPtr<SensorData> Deserialize(RawData &&data);
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};
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template <typename SensorT>
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inline Buffer IMUSerializer::Serialize(
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const SensorT &,
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const geom::Vector3D &accelerometer,
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const geom::Vector3D &gyroscope,
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const float compass) {
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return MsgPack::Pack(Data{accelerometer, gyroscope, compass});
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}
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} // namespace s11n
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} // namespace sensor
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} // namespace carla
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