rawlog_record.h

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 * Revised BSD License                                                             *
 * Copyright (c) 2014, Markus Bader <markus.bader@tuwien.ac.at>                    *
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#include <iostream>
#include <stdint.h>
#include <boost/interprocess/sync/interprocess_mutex.hpp>

#ifndef MRPT_RAWLOG_RECORD_H
#define MRPT_RAWLOG_RECORD_H



#include <mrpt/slam/CRawlog.h>
#include <mrpt/slam/CActionRobotMovement2D.h>
#include <mrpt/slam/CObservationOdometry.h>
#include <mrpt/slam/CObservation2DRangeScan.h>
#include <mrpt/poses/CPose2D.h>
#include <mrpt_bridge/mrpt_log_macros.h>

class RawlogRecord {
    MRPT_VIRTUAL_LOG_MACROS;
public:
        struct Parameters{
                Parameters();
            bool debug;
        std::string raw_log_folder;
        std::string raw_log_name;
        std::string raw_log_name_asf;
        mrpt::slam::CActionRobotMovement2D::TMotionModelOptions motionModelOptions;
        };
    RawlogRecord (Parameters *parm);
    ~RawlogRecord();
protected:
    Parameters *param_;
    mrpt::slam::CRawlog *pRawLog;
    mrpt::slam::CRawlog *pRawLogASF;
    mrpt::poses::CPose2D odomLastPose_;
    void updateRawLogName(const mrpt::system::TTimeStamp &t);
    void observation(mrpt::slam::CObservation2DRangeScanPtr laser, mrpt::slam::CObservationOdometryPtr _odometry);
    boost::interprocess::interprocess_mutex mutexRawLog;
};

#endif // MRPT_RAWLOG_RECORD_H