sensorstream.h

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#ifndef SENSORSTREAM_H
#define SENSORSTREAM_H

#include <istream>
#include "gmapping/log/sensorlog.h"
#include <gmapping/log/log_export.h>

namespace GMapping {
class LOG_EXPORT SensorStream{
        public:
                SensorStream(const SensorMap& sensorMap);
                virtual ~SensorStream();
                virtual operator bool() const=0;
                virtual bool rewind() = 0 ;
                virtual SensorStream& operator >>(const SensorReading*&) = 0;
                inline const SensorMap& getSensorMap() const {return m_sensorMap; }
        protected:
                const SensorMap& m_sensorMap;
                static SensorReading* parseReading(std::istream& is, const SensorMap& smap);
                static OdometryReading* parseOdometry(std::istream& is, const OdometrySensor* );
                static RangeReading* parseRange(std::istream& is, const RangeSensor* );
};

class LOG_EXPORT InputSensorStream: public SensorStream{
        public:
                InputSensorStream(const SensorMap& sensorMap, std::istream& is);
                virtual operator bool() const;
                virtual bool rewind();
                virtual SensorStream& operator >>(const SensorReading*&);
                
                //virtual SensorStream& operator >>(SensorLog*& log);
        protected:
                std::istream& m_inputStream;
};

class LOG_EXPORT LogSensorStream: public SensorStream{
        public:
                LogSensorStream(const SensorMap& sensorMap, const SensorLog* log);
                virtual operator bool() const;
                virtual bool rewind();
                virtual SensorStream& operator >>(const SensorReading*&);
        protected:
                const SensorLog* m_log;
                SensorLog::const_iterator m_cursor;
};

};
#endif