X-lanni
48 lines
1.3 KiB
C++
48 lines
1.3 KiB
C++
#ifndef SENSORSTREAM_H
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#define SENSORSTREAM_H
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#include <istream>
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#include "sensorlog.h"
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namespace GMapping {
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class SensorStream{
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public:
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SensorStream(const SensorMap& sensorMap);
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virtual ~SensorStream();
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virtual operator bool() const=0;
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virtual bool rewind() = 0 ;
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virtual SensorStream& operator >>(const SensorReading*&) = 0;
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inline const SensorMap& getSensorMap() const {return m_sensorMap; }
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protected:
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const SensorMap& m_sensorMap;
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static SensorReading* parseReading(std::istream& is, const SensorMap& smap);
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static OdometryReading* parseOdometry(std::istream& is, const OdometrySensor* );
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static RangeReading* parseRange(std::istream& is, const RangeSensor* );
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};
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class InputSensorStream: public SensorStream{
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public:
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InputSensorStream(const SensorMap& sensorMap, std::istream& is);
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virtual operator bool() const;
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virtual bool rewind();
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virtual SensorStream& operator >>(const SensorReading*&);
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//virtual SensorStream& operator >>(SensorLog*& log);
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protected:
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std::istream& m_inputStream;
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};
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class LogSensorStream: public SensorStream{
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public:
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LogSensorStream(const SensorMap& sensorMap, const SensorLog* log);
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virtual operator bool() const;
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virtual bool rewind();
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virtual SensorStream& operator >>(const SensorReading*&);
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protected:
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const SensorLog* m_log;
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SensorLog::const_iterator m_cursor;
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};
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};
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#endif
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