PCDObservationIO.h

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// (C) Copyright Renaud Detry   2007-2015.
// Distributed under the GNU General Public License and under the
// BSD 3-Clause License (See accompanying file LICENSE.txt).
 
/** @file */
 
#ifndef NUKLEI_PCDOBSERVATIONSERIAL_H
#define NUKLEI_PCDOBSERVATIONSERIAL_H
 
 
#include <nuklei/Definitions.h>
#include <nuklei/ObservationIO.h>
#include <nuklei/PCDObservation.h>
#include <nuklei/SerializedKernelObservationIO.h>
 
 
namespace nuklei {
 
 
  class PCDReader : public KernelReader
    {
    public:
      PCDReader(const std::string &observationFileName);
      ~PCDReader();
  
      Observation::Type type() const { return Observation::PCD; }
    protected:
      void init_();
      NUKLEI_UNIQUE_PTR<Observation> readObservation_();
    };
 
  class PCDWriter : public KernelWriter
  {
  public:
    PCDWriter(const std::string &observationFileName);
    ~PCDWriter();
    
    Observation::Type type() const { return Observation::PCD; }
    
    NUKLEI_UNIQUE_PTR<Observation> templateObservation() const
    { return NUKLEI_UNIQUE_PTR<Observation>(NUKLEI_MOVE(new PCDObservation)); }
 
    void writeBuffer();
 
  };
  
}
 
#endif