Lidar_log_reader.h

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#ifndef HRK_LIDAR_LOG_READER_H
#define HRK_LIDAR_LOG_READER_H

#include <string>
#include "Lidar.h"
#include "Connection.h"


namespace hrk
{
    class Lidar_log_reader : public Connection
    {
    public:
        virtual ~Lidar_log_reader()
        {
        }

        virtual bool load(const std::string& log_file) = 0;
        virtual Lidar::measurement_t log_measurement_type() = 0;
        virtual void log_range(int& first_step, int& last_step,
                               int& group_steps) = 0;
        virtual void log_scans(int& scan_times, int& scan_skips) = 0;

        virtual size_t total_sec() const = 0;
        virtual size_t total_scans() const = 0;
        virtual bool scan_data(size_t scan_index,
                               long& total_play_second,
                               long& msec_to_next_scan) = 0;

        virtual bool reload() = 0;
        virtual bool set_next_scans(int scan_index) = 0;
    };
}

#endif