carmen_log_tools.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

#pragma once

#include <mrpt/obs/CObservation.h>
#include <mrpt/system/datetime.h>

namespace mrpt::obs
{
/** Parse one line from an text input stream and interpret it as a CARMEN log
 *entry,
 *  returning its MRPT observation representation.
 *
 * The first word in each line determines the type of that entry. Supported
 *  line entries in this class are the following:
 *      - "ROBOTLASER(.*)": A joint odometry-laser entry. This function will
 *return
 *both an mrpt::obs::CObservationOdometry and an
 *mrpt::obs::CObservation2DRangeScan
 *      - "FLASER": (Idem)
 *      - "RLASER": (Idem)
 *      - "PARAM": This case is special (read below).
 *
 *  Note that the sensor position on the robot will be always deduced from the
 *corresponding CARMEN log line automatically.
 *
 *  The following entry types will be IGNORED, since with the tags above will
 *be enough in most applications.
 *      - "ODOM"
 *      - "RAWLASER"
 *
 * About the PARAM entries: This functions has an internal static status
 *consisting on some PARAM values
 *  which have effects on the future read observations. When the function finds
 *one of these, it stores the
 *  parameter value, return an empty vector of observations, and use those
 *values for future laser entries of types FLASER or RLASER.
 * Currently, only these parameters are processed:
 *      - "robot_front_laser_max"
 *      - "laser_front_laser_resolution"
 *      - "robot_rear_laser_max"
 *      - "laser_rear_laser_resolution"
 *
 *  \param time_start_log The real timestamp that corresponds to a "0" in the
 *CARMEN log (you can get a mrpt::system::now() once and pass that same value
 *with each call).
 *
 * References: http://carmen.sourceforge.net/doc/binary__loggerplayback.html
 *
 * \return true on success, false on end-of-file (EOF).
 * \exception std::runtime_error On any invalid line found.
 * \ingroup mrpt_obs_grp
 */
bool carmen_log_parse_line(
    std::istream& in_stream,
    std::vector<mrpt::obs::CObservation::Ptr>& out_imported_observations,
    const mrpt::system::TTimeStamp& time_start_log);

}  // namespace mrpt::obs