FilteredArrayOneDimBall.hpp

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/*
 *  FilteredArrayOneDimBall.h
 *  gusimplewhiteboard
 *
 *  Created by Vlad Estivill-Castro  on 19/06/2014.
 *  Copyright (c) 2013, 2014 Vlad Estivill-Castro. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 *
 * 2. Redistributions in binary form must reproduce the above
 *    copyright notice, this list of conditions and the following
 *    disclaimer in the documentation and/or other materials
 *    provided with the distribution.
 *
 * 3. All advertising materials mentioning features or use of this
 *    software must display the following acknowledgement:
 *
 *        This product includes software developed by Rene Hexel.
 *
 * 4. Neither the name of the author nor the names of contributors
 *    may be used to endorse or promote products derived from this
 *    software without specific prior written permission.
 *
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 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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 * -----------------------------------------------------------------------
 * This program is free software; you can redistribute it and/or
 * modify it under the above terms or under the terms of the GNU
 * General Public License as published by the Free Software Foundation;
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 */
 
#ifndef FilteredArrayOneDimBall_DEFINED
#define FilteredArrayOneDimBall_DEFINED
 
#include <cstdlib>
#include <sstream>
#include <gu_util.h>
#include "FilteredOneDimObject.h"
#include "FilteredArrayBallSightings.h"
 
namespace guWhiteboard {
    
 
class FilteredArrayOneDimBall:  public FilteredArrayBallSightings
{
#define SEPARATOR_IS_COMMA ','
#define SEPARATOR_IS_COLON ':'
#define IS_VISIBLE_ID 'I'
#define TOP_ID 'T'
#define BOTTM_ID 'B'
    
public:
    FilteredArrayOneDimBall(): FilteredArrayBallSightings()
    { /*  */ }
    
    FilteredArrayOneDimBall(const class FilteredOneDimObject &obj, enum FilteredVisionObjectType landmarkType  = FVOBallTop)
    {
    const FilteredVisionObject *fvo = dynamic_cast<const FilteredVisionObject *>(&obj);
        FilteredArrayBallSightings::set_objects(*fvo, landmarkType);
    }
    
 
    
    FilteredArrayOneDimBall(const FilteredArrayOneDimBall &other)
    {
#ifdef DEBUG
        assert(sizeof(*this) == sizeof(wb_filtered_arrayballsightings));
#endif
        memcpy(this, &other, sizeof(other));
    }
    
    FilteredArrayOneDimBall &operator=(const FilteredArrayOneDimBall &other)
    {
        memcpy(this, &other, sizeof(other));
        
        return *this;
    }
    
    //class FilteredArrayOneDimSonar *objects() { return _objects; }
    
    
    void set_objects(const class FilteredArrayOneDimBall *t_objects)
    {
        memcpy(wb_filtered_arrayballsightings::objects, t_objects, sizeof(this->objects()));
    }
    
    void set_object(const class FilteredOneDimObject &obj, enum FilteredVisionObjectType landmarkType  = FVOBallTop)
    {
        FilteredArrayBallSightings::set_objects(obj, landmarkType);
    }
    
    FilteredOneDimObject  get_object( enum FilteredVisionObjectType landmarkType  = FVOBallTop)
    {
        return objects(landmarkType);
    }
 
#ifdef WHITEBOARD_POSTER_STRING_CONVERSION
        
        FilteredArrayOneDimBall(const std::string &names) { from_string(names); }
        
        FilteredArrayOneDimBall(const char *names) { from_string(names); }
 
    
    std::string description()
    {
        std::ostringstream ss;
        for ( int i =FVOBallTop; i< FVO_NUM_CAMERAS; i++ )
        {
            FilteredBallObjectType landmarkType = FilteredBallObjectType(i);
            switch (landmarkType )
            {
                case FVOBallTop : ss << TOP_ID<<SEPARATOR_IS_COLON;
                    break;
                case FVOBallBottom : ss << BOTTM_ID<<SEPARATOR_IS_COLON ;
                    break;
                case FVO_NUM_CAMERAS : mipal_warn( "ERROR:");
                    break;
            }// switch
            ss << get_object(landmarkType).description();
        } //for
        return ss.str();
    }
    
    void from_string(const std::string &str)
    {
        std::istringstream iss(str);
        std::string token;
        
        std::string top (1,TOP_ID); top+=SEPARATOR_IS_COLON;
        std::string bottom (1,BOTTM_ID); bottom+=SEPARATOR_IS_COLON;
        
        std::size_t found = str.find(top);
        if (std::string::npos!=found )
        {  std::string strFortop=str.substr (found+top.size());
            FilteredOneDimObject thetop(strFortop);
            set_object(thetop,FVOBallTop);
        }
        
        found = str.find(bottom);
        if (std::string::npos!=found )
        {  std::string strForbottom=str.substr (found+bottom.size());
            FilteredOneDimObject thebottom(strForbottom);
            set_object(thebottom,FVOBallBottom );
        }
 
    }
#endif // WHITEBOARD_POSTER_STRING_CONVERSION
 
    
    
};
} // namespace
 
 
#endif //FilteredArrayOneDimBall