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diff --git a/src/measurement.h b/src/measurement.h
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+/* measurement.h -- 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. */
+
+#ifndef PPAML_VREP_AUTOMOBILE_PLUGIN_MEASUREMENT_H
+#define PPAML_VREP_AUTOMOBILE_PLUGIN_MEASUREMENT_H
+
+#ifdef HAVE_CONFIG_H
+#   include <config.h>
+#endif
+
+#include <string>
+#include <vector>
+
+#include "csv.h"
+
+// Base class for time-series data
+struct Datum {
+    inline Datum(float time)
+        : time(time) {
+    }
+    float time;
+};
+
+
+// Datum definitions //
+
+class Pose : public Datum, public csv::Datum {
+public:
+    inline Pose(float time, float x, float y, float theta)
+        : ::Datum(time), x(x), y(y), theta(theta) {
+    }
+    float x;
+    float y;
+    float theta;
+    inline virtual std::string csvHeader() const;
+    inline virtual std::string csv() const;
+    inline virtual unsigned int nCols() const;
+
+protected:
+    static const std::string csvHeader_;
+};
+
+
+class ControlSignals : public Datum, public csv::Datum {
+public:
+    inline ControlSignals(float time, float speed, float steeringAngle)
+        : ::Datum(time), speed(speed), steeringAngle(steeringAngle) {
+    }
+    float speed;
+    float steeringAngle;
+    inline virtual std::string csvHeader() const;
+    inline virtual std::string csv() const;
+    inline virtual unsigned int nCols() const;
+
+protected:
+    static const std::string csvHeader_;
+};
+
+
+class LidarDatum : public Datum, public csv::Datum {
+public:
+    inline LidarDatum(float time, std::vector<float> distance,
+                      std::vector<float> intensity)
+        : ::Datum(time), distance(distance), intensity(intensity) {
+    }
+    std::vector<float> distance;
+    std::vector<float> intensity;
+    virtual std::string csvHeader() const;
+    inline virtual std::string csv() const;
+    inline virtual unsigned int nCols() const;
+};
+
+
+#include "measurement-inl.h"
+
+#endif