rawlog_play.h

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/***********************************************************************************
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 * 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/version.h>
#include <mrpt/obs/CActionRobotMovement2D.h>
using namespace mrpt::obs;

class RawlogPlay
{
   public:
        struct Parameters
        {
                Parameters();
                bool debug;
                std::string rawlog_file;
                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