1 files changed, 68 insertions, 0 deletions
diff --git a/src/measurement.cpp b/src/measurement.cpp
new file mode 100644
index 0000000..bcf20c3
--- /dev/null
+++ b/src/measurement.cpp
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+/* measurement.cpp -- data sets we gather
+ * Copyright (C) 2013  Galois, Inc.
+ *
+ * This library is free software: you can redistribute it and/or modify it under
+ * the terms of the GNU General Public License as published by the Free Software
+ * Foundation, either version 3 of the License, or (at your option) any later
+ * version.
+ *
+ * This library is distributed in the hope that it will be useful, but WITHOUT
+ * ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+ * FOR A PARTICULAR PURPOSE.  See the GNU General Public License for more
+ * details.
+ *
+ * You should have received a copy of the GNU General Public License along with
+ * this library.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ * To contact Galois, complete the Web form at <http://corp.galois.com/contact/>
+ * or write to Galois, Inc., 421 Southwest 6th Avenue, Suite 300, Portland,
+ * Oregon, 97204-1622. */
+
+#ifdef HAVE_CONFIG_H
+#   include <config.h>
+#endif
+
+#include <array>
+#include <string>
+#include <vector>
+
+#include "csv.h"
+#include "measurement.h"
+
+const std::string Pose::csvHeader_ = "TimeGPS,GPSLat,GPSLon,Orientation";
+
+const std::string ControlSignals::csvHeader_ = "Time_VS,Velocity,Steering";
+
+std::string LidarDatum::csvHeader() const {
+    std::string result;
+    const std::string timeLaserHeader = "TimeLaser";
+    const std::string distanceHeader = "Laser";
+    const std::string intensityHeader = "Intensity";
+    result.reserve(timeLaserHeader.size()
+                   + distance.size() * (1 + distanceHeader.size())
+                   + intensity.size() * (1 + intensityHeader.size()));
+    result.append(timeLaserHeader);
+    for (std::vector<float>::size_type i = 0; i < distance.size(); i++) {
+        result.append(",");
+        result.append(distanceHeader);
+    }
+    for (std::vector<float>::size_type i = 0; i < intensity.size(); i++) {
+        result.append(",");
+        result.append(intensityHeader);
+    }
+    return result;
+}
+
+std::string LidarDatum::csv() const {
+    std::string result = std::to_string(time);
+    /* Yes, there are double braces in the initializer on the next line.  See
+     * <http://stackoverflow.com/questions/11400090>. */
+    const std::array<std::vector<float>, 2> dataSets = {{distance, intensity}};
+    for (const std::vector<float> &data : dataSets) {
+        if (! data.empty()) {
+            result.append(",");
+            result.append(csv::fromContainer(data));
+        }
+    }
+    return result;
+}