rawlog_play.h
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00001 /***********************************************************************************
00002  * Revised BSD License                                                             *
00003  * Copyright (c) 2014, Markus Bader <markus.bader@tuwien.ac.at>                    *
00004  * All rights reserved.                                                            *
00005  *                                                                                 *
00006  * Redistribution and use in source and binary forms, with or without              *
00007  * modification, are permitted provided that the following conditions are met:     *
00008  *     * Redistributions of source code must retain the above copyright            *
00009  *       notice, this list of conditions and the following disclaimer.             *
00010  *     * Redistributions in binary form must reproduce the above copyright         *
00011  *       notice, this list of conditions and the following disclaimer in the       *
00012  *       documentation and/or other materials provided with the distribution.      *
00013  *     * Neither the name of the Vienna University of Technology nor the           *
00014  *       names of its contributors may be used to endorse or promote products      *
00015  *       derived from this software without specific prior written permission.     *
00016  *                                                                                 *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
00018  * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED   *
00019  * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE          *
00020  * DISCLAIMED. IN NO EVENT SHALL Markus Bader BE LIABLE FOR ANY                    *
00021  * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES      *
00022  * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;    *
00023  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND     *
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00025  * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS   *
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00027  ***********************************************************************************/
00028 
00029 #ifndef MRPT_RAWLOG_RECORD_H
00030 #define MRPT_RAWLOG_RECORD_H
00031 
00032 #include <iostream>
00033 #include <stdint.h>
00034 #include <boost/interprocess/sync/interprocess_mutex.hpp>
00035 
00036 #include <mrpt/utils/CFileGZInputStream.h>
00037 #include <mrpt/poses/CPose3DPDFGaussian.h>
00038 #include <mrpt/slam/CActionRobotMovement2D.h>
00039 
00040 
00041 class RawlogPlay {
00042 public:
00043         struct Parameters{
00044                 Parameters();
00045             bool debug;
00046         std::string rawlog_file;
00047         mrpt::slam::CActionRobotMovement2D::TMotionModelOptions motionModelOptions;
00048         };
00049     RawlogPlay (Parameters *parm);
00050     ~RawlogPlay();
00051 protected:
00052     Parameters *param_;
00053     mrpt::utils::CFileGZInputStream rawlog_stream_;
00054     mrpt::poses::CPose3DPDFGaussian robotPose;
00055     size_t entry_;
00056 
00057 
00058 };
00059 
00060 #endif // MRPT_RAWLOG_RECORD_H


mrpt_rawlog
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autogenerated on Mon Aug 11 2014 11:23:25