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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
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