DatasetDataStream.h

/*
 * Copyright (C) 2020 Istituto Italiano di Tecnologia (IIT)
 *
 * This software may be modified and distributed under the terms of the
 * BSD 3-Clause license. See the accompanying LICENSE file for details.
 */
 
#ifndef ROBOTSIO_DATASETDATASTREAM_H
#define ROBOTSIO_DATASETDATASTREAM_H
 
#include <Eigen/Dense>
 
namespace RobotsIO {
    namespace Utils {
        class DatasetDataStream;
    }
}
 
 
class RobotsIO::Utils::DatasetDataStream
{
public:
    static const int NoTimeIndex = -1;
 
    DatasetDataStream(const std::string& file_path, const std::size_t& skip_rows, const std::size_t& skip_cols, const std::size_t& expected_cols, const int rx_time_index = NoTimeIndex, const int tx_time_index = NoTimeIndex);
 
    virtual ~DatasetDataStream();
 
    double rx_time();
 
    double tx_time();
 
    virtual Eigen::VectorXd data();
 
    virtual bool freeze();
 
protected:
    int get_head();
 
    bool set_head(const int& value);
 
    Eigen::VectorXd data(const int& index);
 
private:
    Eigen::MatrixXd data_;
 
    Eigen::VectorXd data_rx_time_;
 
    Eigen::VectorXd data_tx_time_;
 
    int rx_time_index_;
 
    int tx_time_index_;
 
    int head_ = -1;
 
    const std::string log_name_ = "DatasetDataStream";
};
 
#endif /* ROBOTSIO_DATASETDATASTREAM_H */