DatasetSpatialVelocity.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_DATASETSPATIALVELOCITY_H
#define ROBOTSIO_DATASETSPATIALVELOCITY_H
 
#include <Eigen/Dense>
 
#include <RobotsIO/Utils/DatasetDataStream.h>
#include <RobotsIO/Utils/SpatialVelocity.h>
 
namespace RobotsIO {
    namespace Utils {
        class DatasetSpatialVelocity;
    }
}
 
 
class RobotsIO::Utils::DatasetSpatialVelocity : public RobotsIO::Utils::DatasetDataStream,
                                                public RobotsIO::Utils::SpatialVelocity
{
public:
    DatasetSpatialVelocity(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 = RobotsIO::Utils::DatasetDataStream::NoTimeIndex, const int tx_time_index = RobotsIO::Utils::DatasetDataStream::NoTimeIndex);
 
    virtual ~DatasetSpatialVelocity();
 
    bool freeze(const bool blocking = false) override;
 
    double elapsed_time() override;
 
protected:
    Eigen::VectorXd twist() override;
 
private:
    double last_time_;
 
    double elapsed_time_;
 
    bool last_time_initialized_ = false;
 
    Eigen::VectorXd twist_;
 
    const std::string log_name_ = "DatasetSpatialVelocity";
};
 
#endif /* ROBOTSIO_DATASETSPATIALVELOCITY_H */