IMUSerializer.h

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