rawlog_play.h

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/***********************************************************************************
 * Revised BSD License                                                             *
 * Copyright (c) 2014, Markus Bader <markus.bader@tuwien.ac.at>                    *
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#ifndef MRPT_RAWLOG_RECORD_H
#define MRPT_RAWLOG_RECORD_H

#include <iostream>
#include <stdint.h>
#include <boost/interprocess/sync/interprocess_mutex.hpp>

#include <mrpt/utils/CFileGZInputStream.h>
#include <mrpt/poses/CPose3DPDFGaussian.h>
#include <mrpt/slam/CActionRobotMovement2D.h>


class RawlogPlay {
public:
        struct Parameters{
                Parameters();
            bool debug;
        std::string rawlog_file;
        mrpt::slam::CActionRobotMovement2D::TMotionModelOptions motionModelOptions;
        };
    RawlogPlay (Parameters *parm);
    ~RawlogPlay();
protected:
    Parameters *param_;
    mrpt::utils::CFileGZInputStream rawlog_stream_;
    mrpt::poses::CPose3DPDFGaussian robotPose;
    size_t entry_;


};

#endif // MRPT_RAWLOG_RECORD_H