DatasetTransform.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_DATASETTRANSFORM_H
#define ROBOTSIO_DATASETTRANSFORM_H
 
#include <Eigen/Dense>
 
#include <RobotsIO/Utils/DatasetDataStream.h>
#include <RobotsIO/Utils/Transform.h>
 
namespace RobotsIO {
    namespace Utils {
        class DatasetTransform;
    }
}
 
 
class RobotsIO::Utils::DatasetTransform : public RobotsIO::Utils::DatasetDataStream,
                                          public RobotsIO::Utils::Transform
{
public:
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
    DatasetTransform(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 ~DatasetTransform();
 
    Eigen::Transform<double, 3, Eigen::Affine> transform() override;
 
    bool freeze(const bool blocking = false) override;
 
private:
    Eigen::Transform<double, 3, Eigen::Affine> transform_;
 
    const std::string log_name_ = "DatasetTransform";
};
 
#endif /* ROBOTSIO_DATASETTRANSFORM_H */