abstract_transformationfile_manager.h

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#ifndef ABSTRACTTRANSFORMATIONWRITER_H
#define ABSTRACTTRANSFORMATIONWRITER_H
#include <iostream>
#ifndef Q_MOC_RUN
#include <Eigen/Dense>
#endif
#include "transformation_data.h"

#include <vector>
using namespace std;

typedef std::tuple<double, double, Eigen::Matrix4d, Eigen::Matrix4d> PanTiltOffsetTuple;
typedef std::vector<PanTiltOffsetTuple,Eigen::aligned_allocator<Eigen::Vector4f> > PanTiltOffsetTupleList;

class Abstract_TransformationFile_Manager
{
public:
    explicit Abstract_TransformationFile_Manager(string filePath);
    virtual std::vector<Transformation_Data> readFromFile(string filePath) = 0;
    virtual bool writeToFile(Transformation_Data data) = 0;
    virtual std::vector<Eigen::Matrix4d, Eigen::aligned_allocator<Eigen::Matrix4d>> readTransformationFromFile(string filePath) = 0;
    virtual bool writeTransformationToFile(const std::vector<Eigen::Matrix4d, Eigen::aligned_allocator<Eigen::Matrix4d>> transformation) = 0;
    virtual bool writeCameraOffsetToFile(const PanTiltOffsetTupleList &offsetData) = 0;

    bool writeToFile(std::vector<Transformation_Data> &dataSets);
    bool writeToFile(const Eigen::Matrix4d PTU_Frame, const Eigen::Matrix4d LaserScan_Frame, double pan, double tilt);
    std::vector<Transformation_Data> readFromFile();
protected:
    string filePath;
};

#endif // ABSTRACTTRANSFORMATIONWRITER_H