carmen_log_tools.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */

#ifndef CARMEN_LOG_TOOLS_H
#define CARMEN_LOG_TOOLS_H

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

}
#endif