Orca Robotics

00001 #ifndef ORCALOGFACTORY_LOGWRITERS_H
00002 #define ORCALOGFACTORY_LOGWRITERS_H
00003 
00004 #include <orcalog/logwriter.h>
00005 #include <orca/cpu.h>
00006 #include <orca/drivebicycle.h>
00007 #include <orca/imu.h>
00008 #include <orca/laserscanner2d.h>
00009 #include <orca/localise2d.h>
00010 #include <orca/localise3d.h>
00011 #include <orca/odometry2d.h>
00012 #include <orca/odometry3d.h>
00013 #include <orca/polarfeature2d.h>
00014 #include <orca/power.h>
00015 #include <orca/wifi.h>
00016 #include <orca/gps.h>
00017 
00018 namespace orcalogfactory {
00019 
00020 //
00021 // A collection of classes capable of writing sub-logfiles for specific
00022 // interface types.
00023 //
00024 
00026 
00027 class CpuLogWriter : public orcalog::LogWriter
00028 {
00029 public:
00030     void checkFormat( const std::string &format );
00031     void write( const orca::CpuData &obj, const orca::Time &arrivalTime );
00032 };
00033 
00035 
00036 class DriveBicycleLogWriter : public orcalog::LogWriter
00037 {
00038 public:
00039     void checkFormat( const std::string &format );
00040     void write( const orca::DriveBicycleData &obj, const orca::Time &arrivalTime  );
00041     void write( const orca::VehicleDescription &descr );
00042 };
00043 
00045 
00046 class ImuLogWriter : public orcalog::LogWriter
00047 {
00048 public:
00049     void checkFormat( const std::string &format );
00050     void write( const orca::ImuData &obj, const orca::Time &arrivalTime  );
00051 };
00052 
00054 
00055 class LaserScanner2dLogWriter : public orcalog::LogWriter
00056 {
00057 public:
00058     void checkFormat( const std::string &format );
00059     void write( const orca::LaserScanner2dDataPtr &obj, const orca::Time &arrivalTime  );
00060     void write( const orca::RangeScanner2dDescription &descr );
00061 };
00062 
00064 
00065 class Localise2dLogWriter : public orcalog::LogWriter
00066 {
00067 public:
00068     void checkFormat( const std::string &format );
00069     void write( const orca::Localise2dData &obj, const orca::Time &arrivalTime  );
00070     void write( const orca::VehicleGeometryDescriptionPtr &descr );
00071 };
00072 
00074 
00075 class Localise3dLogWriter : public orcalog::LogWriter
00076 {
00077 public:
00078     void checkFormat( const std::string &format );
00079     void write( const orca::Localise3dData &obj, const orca::Time &arrivalTime  );        
00080     void write( const orca::VehicleGeometryDescriptionPtr &descr );
00081 };
00082 
00084 
00085 class Odometry2dLogWriter : public orcalog::LogWriter
00086 {
00087 public:
00088     void checkFormat( const std::string &format );
00089     void write( const orca::Odometry2dData &obj, const orca::Time &arrivalTime  );
00090     void write( const orca::VehicleDescription &descr );
00091 };
00092 
00094 
00095 class Odometry3dLogWriter : public orcalog::LogWriter
00096 {
00097 public:
00098     void checkFormat( const std::string &format );
00099     void write( const orca::Odometry3dData &obj, const orca::Time &arrivalTime  );
00100     void write( const orca::VehicleDescription &descr );
00101 };
00102 
00104 
00105 class PolarFeature2dLogWriter : public orcalog::LogWriter
00106 {
00107 public:
00108     void checkFormat( const std::string &format );
00109     void write( const orca::PolarFeature2dData &obj, const orca::Time &arrivalTime  );
00110 };
00111 
00113 
00114 class PowerLogWriter : public orcalog::LogWriter
00115 {
00116 public:
00117     void checkFormat( const std::string &format );
00118     void write( const orca::PowerData &obj, const orca::Time &arrivalTime  );
00119 };
00120 
00122 
00123 class WifiLogWriter : public orcalog::LogWriter
00124 {
00125 public:
00126     void checkFormat( const std::string &format );
00127     void write( const orca::WifiData &obj, const orca::Time &arrivalTime  );
00128 };
00129 
00131 
00132 class GpsLogWriter : public orcalog::LogWriter
00133 {
00134 public:
00135     void checkFormat( const std::string &format );
00136     void write( const orca::GpsData &obj, const orca::Time &arrivalTime  );
00137     void write( const orca::GpsDescription &descr );
00138 };
00139 
00141 
00142 
00143 
00144 }
00145 
00146 #endif
logwriters.h
