Program Listing for File rawlog_play.h
↰ Return to documentation for file (include/mrpt_rawlog_play/rawlog_play.h
)
/* +------------------------------------------------------------------------+
| mrpt_navigation |
| |
| Copyright (c) 2014-2024, Individual contributors, see commit authors |
| See: https://github.com/mrpt-ros-pkg/mrpt_navigation |
| All rights reserved. Released under BSD 3-Clause license. See LICENSE |
+------------------------------------------------------------------------+ */
#pragma once
#include <mrpt/io/CFileGZInputStream.h>
#include <mrpt/obs/CActionRobotMovement2D.h>
#include <mrpt/poses/CPose3DPDFGaussian.h>
#include <boost/interprocess/sync/interprocess_mutex.hpp>
#include <cstdint>
#include <iostream>
class RawlogPlay
{
public:
struct Parameters
{
Parameters();
bool debug;
std::string rawlog_file;
mrpt::obs::CActionRobotMovement2D::TMotionModelOptions
motionModelOptions;
};
RawlogPlay(Parameters* parm);
~RawlogPlay();
protected:
Parameters* param_;
mrpt::io::CFileGZInputStream rawlog_stream_;
mrpt::poses::CPose3DPDFGaussian robotPose;
size_t entry_ = 0;
};