sensorlog.h

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#ifndef SENSORLOG_H
#define SENSORLOG_H

#include <list>
#include <istream>
#include <gmapping/sensor/sensor_base/sensorreading.h>
#include <gmapping/sensor/sensor_odometry/odometrysensor.h>
#include <gmapping/sensor/sensor_range/rangesensor.h>
#include <gmapping/sensor/sensor_odometry/odometryreading.h>
#include <gmapping/sensor/sensor_range/rangereading.h>
#include "configuration.h"

namespace GMapping {

class SensorLog : public std::list<SensorReading*>{
        public:
                SensorLog(const SensorMap&);
                ~SensorLog();
                std::istream& load(std::istream& is);
                OrientedPoint boundingBox(double& xmin, double& ymin, double& xmax, double& ymax) const;
        protected:
                const SensorMap& m_sensorMap;
                OdometryReading* parseOdometry(std::istream& is, const OdometrySensor* ) const;
                RangeReading* parseRange(std::istream& is, const RangeSensor* ) const;
};

};

#endif