rawlog_play.h

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#pragma once

#include <mrpt/io/CFileGZInputStream.h>
#include <mrpt/obs/CActionRobotMovement2D.h>
#include <mrpt/poses/CPose3DPDFGaussian.h>

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

class RawlogPlay
{
   public:
        struct Parameters
        {
                Parameters();
                bool debug;
                std::string rawlog_file;
                mrpt::obs::CActionRobotMovement2D::TMotionModelOptions
                        motionModelOptions;
        };

        RawlogPlay(Parameters* parm);
        ~RawlogPlay();

   protected:
        Parameters* param_;
        mrpt::io::CFileGZInputStream rawlog_stream_;
        mrpt::poses::CPose3DPDFGaussian robotPose;
        size_t entry_ = 0;
};