add slam_gmapping

slam_gmapping/openslam_gmapping/log/sensorstream.h

@@ -0,0 +1,47 @@
+#ifndef SENSORSTREAM_H
+#define SENSORSTREAM_H
+
+#include <istream>
+#include "sensorlog.h"
+
+namespace GMapping {
+class 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 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 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