matlab_file_reader.h

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/*
 * Copyright (c) 2018, The Regents of the University of California (Regents).
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are
 * met:
 *
 *    1. Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *
 *    2. 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.
 *
 *    3. Neither the name of the copyright holder 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.
 *
 * Please contact the author(s) of this library if you have any questions.
 * Authors: David Fridovich-Keil   ( dfk@eecs.berkeley.edu )
 */

//
// Utility for reading variables out of *.mat files.
//

#ifndef FASTRACK_UTILS_MATLAB_FILE_READER_H
#define FASTRACK_UTILS_MATLAB_FILE_READER_H

#include <fastrack/utils/uncopyable.h>

#include <ros/ros.h>
#include <matio.h>
#include <stdexcept>
#include <string>
#include <vector>
#include <iostream>

namespace fastrack {

class MatlabFileReader : private Uncopyable {
 public:
  ~MatlabFileReader() { Close(); }
  explicit MatlabFileReader()
    : mat_fp_(nullptr) {}
  explicit MatlabFileReader(const std::string& file_name)
    : mat_fp_(nullptr) {
    if (!Open(file_name)) {
      ROS_ERROR("MatlabFileReader: could not load file %s.",
                file_name.c_str());
    }
  }

  // Open and close a file. Open returns bool upon success.
  bool Open(const std::string& file_name);
  void Close() {
    if (IsOpen()) Mat_Close(mat_fp_);
  }

  // Is this reader open?
  bool IsOpen() { return mat_fp_; }

  // Read string. Returns bool indicating success.
  bool ReadString(const std::string& field_name, std::string* value);

  // Read scalar. Returns bool indicating success.
  bool ReadScalar(const std::string& field_name, double* value);
  bool ReadScalar(const std::string& field_name, size_t* value);

  // Read vector. Returns bool indicating success.
  bool ReadVector(const std::string& field_name, std::vector<double>* values);
  bool ReadVector(const std::string& field_name, std::vector<size_t>* values);

 private:
  mat_t* mat_fp_;
};  //\class MatlabFileReader

}  // namespace fastrack

#endif