gfsreader.h

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#ifndef GFSREADER_H
#define GFSREADER_H

#include <iostream>
#include <fstream>
#include <sstream>
#include <vector>
#include <list>
#include <gmapping/utils/point.h>
#include <gmapping/gridfastslam/gridfastslam_export.h>

#define MAX_LINE_LENGHT (1000000)

namespace GMapping{

namespace GFSReader{
        
using namespace std;

struct GRIDFASTSLAM_EXPORT Record{
        unsigned int dim;
        double time;
        virtual ~Record();
        virtual void read(istream& is)=0;
        virtual void write(ostream& os);
};

struct GRIDFASTSLAM_EXPORT CommentRecord: public Record{
        string text;
        virtual void read(istream& is);
        virtual void write(ostream& os);
};

struct GRIDFASTSLAM_EXPORT PoseRecord: public Record{
        PoseRecord(bool ideal=false);
        void read(istream& is);
        virtual void write(ostream& os);
        bool truePos;
        OrientedPoint pose;
};

struct GRIDFASTSLAM_EXPORT NeffRecord: public Record{
        void read(istream& is);
        virtual void write(ostream& os);
        double neff;
};

struct GRIDFASTSLAM_EXPORT EntropyRecord: public Record{
        void read(istream& is);
        virtual void write(ostream& os);
        double poseEntropy;
        double trajectoryEntropy;
        double mapEntropy;
};


struct GRIDFASTSLAM_EXPORT OdometryRecord: public Record{
        virtual void read(istream& is);
        vector<OrientedPoint> poses;
};

struct GRIDFASTSLAM_EXPORT RawOdometryRecord: public Record{
        virtual void read(istream& is);
        OrientedPoint pose;
};

struct GRIDFASTSLAM_EXPORT ScanMatchRecord: public Record{
        virtual void read(istream& is);
        vector<OrientedPoint> poses;
        vector<double> weights;
};

struct GRIDFASTSLAM_EXPORT LaserRecord: public Record{
        virtual void read(istream& is);
        virtual void write(ostream& os);
        vector<double> readings;
        OrientedPoint pose;
        double weight;
};

struct GRIDFASTSLAM_EXPORT ResampleRecord: public Record{
        virtual void read(istream& is);
        vector<unsigned int> indexes;
};

struct GRIDFASTSLAM_EXPORT RecordList: public list<Record*>{
        mutable int sampleSize;
        istream& read(istream& is);
        double getLogWeight(unsigned int i) const;
        double getLogWeight(unsigned int i, RecordList::const_iterator frame) const;
        unsigned int getBestIdx() const ;
        void printLastParticles(ostream& os) const ;
        void printPath(ostream& os, unsigned int i, bool err=false, bool rawodom=false) const;
        RecordList computePath(unsigned int i, RecordList::const_iterator frame) const;
        void destroyReferences();
};

}; //end namespace GFSReader

}; //end namespace GMapping

#endif