MRPT  1.9.9
DataSourceRawlog.h
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1 /* +------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | https://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2019, Individual contributors, see AUTHORS file |
6  | See: https://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See: https://www.mrpt.org/License |
8  +------------------------------------------------------------------------+ */
9 #pragma once
10 
15 
16 namespace mrpt::apps
17 {
18 /** Implementation of BaseAppDataSource for reading from a rawlog file
19  *
20  * \ingroup mrpt_apps_grp
21  */
22 class DataSourceRawlog : virtual public BaseAppDataSource,
23  virtual public mrpt::system::COutputLogger
24 {
25  public:
26  DataSourceRawlog() = default;
27  virtual ~DataSourceRawlog() override = default;
28 
29  protected:
32  mrpt::obs::CSensoryFrame::Ptr& observations,
33  mrpt::obs::CObservation::Ptr& observation) override;
34 
35  std::string m_rawlogFileName = "UNDEFINED.rawlog";
36  std::size_t m_rawlog_offset = 0;
37  std::size_t m_rawlogEntry = 0;
40 };
41 
42 } // namespace mrpt::apps
mrpt::serialization::CArchive::UniquePtr m_rawlog_arch
bool impl_get_next_observations(mrpt::obs::CActionCollection::Ptr &action, mrpt::obs::CSensoryFrame::Ptr &observations, mrpt::obs::CObservation::Ptr &observation) override
Get next sensory data.
Versatile class for consistent logging and management of output messages.
virtual ~DataSourceRawlog() override=default
Transparently opens a compressed "gz" file and reads uncompressed data from it.
Implementation of BaseAppDataSource for reading from a rawlog file.
mrpt::io::CFileGZInputStream m_rawlog_io
Virtual interface for offline datasets (rawlog) or live sensors.
std::unique_ptr< CArchive > UniquePtr
Definition: CArchive.h:61



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