X-lanni
30 lines
819 B
C++
30 lines
819 B
C++
#ifndef SENSORLOG_H
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#define SENSORLOG_H
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#include <list>
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#include <istream>
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#include <sensor/sensor_base/sensorreading.h>
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#include <sensor/sensor_odometry/odometrysensor.h>
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#include <sensor/sensor_range/rangesensor.h>
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#include <sensor/sensor_odometry/odometryreading.h>
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#include <sensor/sensor_range/rangereading.h>
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#include "configuration.h"
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namespace GMapping {
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class SensorLog : public std::list<SensorReading*>{
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public:
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SensorLog(const SensorMap&);
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~SensorLog();
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std::istream& load(std::istream& is);
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OrientedPoint boundingBox(double& xmin, double& ymin, double& xmax, double& ymax) const;
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protected:
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const SensorMap& m_sensorMap;
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OdometryReading* parseOdometry(std::istream& is, const OdometrySensor* ) const;
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RangeReading* parseRange(std::istream& is, const RangeSensor* ) const;
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};
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};
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#endif
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