CarlaRecorderKinematics.cpp

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// Copyright (c) 2026 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>.
 
#include "CarlaRecorderKinematics.h"
#include "CarlaRecorder.h"
#include "CarlaRecorderHelpers.h"
 
void CarlaRecorderKinematics::Write(std::ostream &OutFile)
{
  WriteValue<uint32_t>(OutFile, this->DatabaseId);
  WriteFVector(OutFile, this->LinearVelocity);
  WriteFVector(OutFile, this->AngularVelocity);
}
 
void CarlaRecorderKinematics::Read(std::istream &InFile)
{
  ReadValue<uint32_t>(InFile, this->DatabaseId);
  ReadFVector(InFile, this->LinearVelocity);
  ReadFVector(InFile, this->AngularVelocity);
}
 
// ---------------------------------------------
 
void CarlaRecorderActorsKinematics::Clear(void)
{
  Kinematics.clear();
}
 
void CarlaRecorderActorsKinematics::Add(const CarlaRecorderKinematics &InObj)
{
  Kinematics.push_back(InObj);
}
 
void CarlaRecorderActorsKinematics::Write(std::ostream &OutFile)
{
  if (Kinematics.size() == 0)
  {
    return;
  }
  // write the packet id
  WriteValue<char>(OutFile, static_cast<char>(CarlaRecorderPacketId::Kinematics));
 
  // write the packet size
  uint32_t Total = 2 + Kinematics.size() * sizeof(CarlaRecorderKinematics);
  WriteValue<uint32_t>(OutFile, Total);
 
  // write total records
  Total = Kinematics.size();
  WriteValue<uint16_t>(OutFile, Total);
 
  // write records
  for (auto& Kinematic : Kinematics)
  {
    Kinematic.Write(OutFile);
  }
}
 
void CarlaRecorderActorsKinematics::Read(std::istream &InFile)
{
  uint16_t Total = 0;
  ReadValue<uint16_t>(InFile, Total);
  for (uint16_t i = 0; (i < Total) && InFile; ++i)
  {
    CarlaRecorderKinematics Record;
    Record.Read(InFile);
    Add(Record);
  }
}
 
const std::vector<CarlaRecorderKinematics>& CarlaRecorderActorsKinematics::GetKinematics() const
{
  return Kinematics;
}
 
bool CarlaRecorderActorsKinematics::IsEmpty() const
{
  return Kinematics.empty();
}