bag_manager.hpp

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#ifndef __BAG_MANAGER__
#define __BAG_MANAGER__

#include <ros/ros.h>
#include <rosbag/bag.h>
#include <boost/filesystem.hpp>

namespace generic_control_toolbox
{
class BagManager
{
 public:
  BagManager(const std::string &path, const std::string &default_topic);
  ~BagManager();

  template <class T>
  void write(const T &msg);

  template <class T>
  void write(const std::string &topic, const T &msg);

 private:
  rosbag::Bag bag_;
  std::string default_topic_;

  int numOfFiles(const std::string &path) const;
};

template <class T>
void BagManager::write(const T &msg)
{
  bag_.write(default_topic_, ros::Time::now(), msg);
}

template <class T>
void BagManager::write(const std::string &topic, const T &msg)
{
  bag_.write(topic, ros::Time::now(), msg);
}
}  // namespace generic_control_toolbox

#endif