rawlog_record.h

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#include <iostream>
#include <stdint.h>
#include <boost/interprocess/sync/interprocess_mutex.hpp>

#ifndef MRPT_RAWLOG_RECORD_H
#define MRPT_RAWLOG_RECORD_H

#include <mrpt/version.h>
#include <mrpt/obs/CRawlog.h>
#include <mrpt/obs/CActionRobotMovement2D.h>
#include <mrpt/obs/CObservationOdometry.h>
#include <mrpt/obs/CObservation2DRangeScan.h>
#include <mrpt/obs/CObservationBearingRange.h>
#include <mrpt/obs/CObservationBeaconRanges.h>

using mrpt::obs::CRawlog;
using mrpt::obs::CActionRobotMovement2D;

#include <mrpt/poses/CPose2D.h>
#include <mrpt_bridge/mrpt_log_macros.h>

class RawlogRecord
{
        MRPT_VIRTUAL_LOG_MACROS;

   public:
        struct Parameters
        {
                Parameters();
                bool debug;
                std::string raw_log_folder;
                std::string raw_log_name;
                std::string raw_log_name_asf;
        bool record_range_scan;
        bool record_bearing_range;
        bool record_beacon_range;
        double bearing_range_std_range;
        double bearing_range_std_yaw;
        double bearing_range_std_pitch;
                CActionRobotMovement2D::TMotionModelOptions motionModelOptions;
        };
        RawlogRecord(Parameters* parm);
        ~RawlogRecord();

   protected:
        Parameters* param_;
        CRawlog* pRawLog;
        CRawlog* pRawLogASF;
        void updateRawLogName(const mrpt::system::TTimeStamp& t);
        boost::interprocess::interprocess_mutex mutexRawLog;
};

#endif  // MRPT_RAWLOG_RECORD_H