text: /*
   * Software License Agreement (BSD License)
   *
   *  Beta-SLAM - Simultaneous localization and grid mapping with beta distributions
   *  Copyright (c) 2013-2019, Joachim Clemens, Thomas Reineking, Tobias Kluth
   *  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.
   *
   *  * Neither the name of BSLAM nor the names of its
   *    contributors may be used to endorse or promote products derived from
   *    this software without specific prior written permission.
   *
   *  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 BSLAM_CARMENGTREADER_H_
  #define BSLAM_CARMENGTREADER_H_
  
  #include "bslam/utils/geometry/PoseSE2.h"
  
  
  namespace bslam {
  
  class CarmenGtReader {
  public:
  			CarmenGtReader( std::istream &inputStream );
  	virtual ~CarmenGtReader();
  
  	bool	nextPose( PoseSE2 *pose, std::string *timestamp = nullptr );
  
  protected:
  	enum {
  		GT_TIMESTAMP = 0,
  		GT_POSE_X,
  		GT_POSE_Y,
  		GT_POSE_PHI
  	};
  
  	std::istream	&m_in;
  };
  
  } /* namespace bslam */
  
  #endif /* BSLAM_CARMENGTREADER_H_ */
  