File data_reader.hpp

Parser to load SL file format (clmcplot) It loads the data and provide a usueful API for accessing the fields Implement some function to access the data from the SL d-file.

License:

BSD 3-clause

Copyright

Copyright (c) 2020, New York University and Max Planck Gesellschaft

namespace mim_estimation
namespace io_tools
class DataReader
#include <data_reader.hpp>

Public Functions

inline DataReader()
inline ~DataReader()
void read(const std::string &fname)

read, reads a clmcplot file and fills the internal data structure.

Parameters:

fname – name of the d-file to read.

int getIndex(const std::string &stream_name)

findIndex, find the column index corresponding to the field name.

Parameters:

name – name of the field.

Returns:

the column index corresponding to the field name.

void getIndexes(const std::vector<std::string> &stream_names, std::vector<int> &indexes)

getIndexes:, find stream column indexes corresponding to the names.

Parameters:

  • names – list of the stream name.

  • indexes – the output list of indexes.

void fillPose(int row, const std::vector<int> &indexes, Eigen::Vector3d &pose, Eigen::Quaterniond &orientation)

fillPose, fill an existing pose object with the data.

Parameters:

  • row – row index homogenous to time/sampling_period.

  • indexes – the indexes of the data streams to copy in order: [x, y, z, qw, qx, qy, qz].

  • pose – the object to fill.

void fillVector(int row, const std::vector<int> &indexes, Eigen::Ref<Eigen::VectorXd> vec)

fillVector, fill an existing vector from the data

Parameters:

  • row – row index homogenous to time/sampling_period.

  • indexes – the indexes of the data streams to copy.

  • vec – the vector with the correct dimension that is filled

inline int getNbRows()

getNbRows, get the number of rows equivalent to the number of time step saved in the d-file

Returns:

the number of time step saved

inline double getValue(int row, int index)

getValue, get the value of a specific stream at a specific time

Parameters:

  • row – row index homogenous to time/sampling_period.

  • index – the index of the data streams to copy from.

Returns:

the value

inline double getFrequency()

getFrequence, get the getFrequence of the read data

Returns:

the frequence

Private Members

Eigen::MatrixXd data_
std::vector<std::string> var_names_
std::vector<std::string> units_
int nb_rows_
int nb_cols_
int buffer_size_
double frequency_