text: /*
   * ScanFrame.cpp
   *
   *  Created on: Jun 3, 2019
   *      Author: sujiwo
   */
  
  #include <sstream>
  
  #include "ScanFrame.h"
  
  using namespace std;
  
  
  namespace LidarMapper {
  
  
  string ScanFrame::dump() const
  {
  	stringstream ss;
  	Pose g = getPose();
  
  	ss << bagId << ' '
  		<< g.position().x() << " "
  		<< g.position().y() << " "
  		<< g.position().z() << " "
  		<< g.orientation().x() << ' '
  		<< g.orientation().y() << ' '
  		<< g.orientation().z() << ' '
  		<< g.orientation().w()
  	;
  	return ss.str();
  }
  
  
  } // namespace LidarMapper
  