text: // g2o - General Graph Optimization
  // Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
  // All rights reserved.
  //
  // Redistribution and use in source and binary forms, with or without
  // modification, are permitted provided that the following conditions are
  // met:
  //
  // * Redistributions of source code must retain the above copyright notice,
  //   this list of conditions and the following disclaimer.
  // * Redistributions in binary form must reproduce the above copyright
  //   notice, this list of conditions and the following disclaimer in the
  //   documentation and/or other materials provided with the distribution.
  //
  // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS
  // IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
  // TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
  // PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
  // HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
  // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
  // TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
  // PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
  // LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
  // NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
  // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  
  #ifndef PARSER_INTERFACE_H
  #define PARSER_INTERFACE_H
  
  #include "abstract_slam_interface.h"
  
  #include <iosfwd>
  #include <sstream>
  
  namespace SlamParser {
  
    class SlamContextInterface;
    class Driver;
  
    /**
     * \brief top-level interface to the parser
     */
    class ParserInterface
    {
      public:
        /**
         * construct a parser and use the given AbstractSlamInterface to communicate with the SLAM algorithm.
         */
        ParserInterface(AbstractSlamInterface* slamInterface);
        virtual ~ParserInterface();
  
        /**
         * parse a single command and forward to the SLAM engine
         */ 
        bool parseCommand(std::istream& input);
  
      protected:
        SlamContextInterface* _slamContextInterface;
        Driver* _driver;
        std::stringstream _buffer;
    };
  
  } // end namespace
  
  #endif
  