added code from fusion2016

code/reader/SensorReader.h

@@ -0,0 +1,66 @@
+#ifndef SENSORREADER_H
+#define SENSORREADER_H
+
+#include <fstream>
+
+/** entry for one sensor */
+struct SensorEntry {
+
+	/** timestamp of occurrence */
+	uint64_t ts;
+
+	/** sensor's number */
+	int idx;
+
+	/** sensor data */
+	std::string data;
+
+};
+
+/** read sensor data from CSV */
+class SensorReader {
+
+private:
+
+	std::string file;
+	std::ifstream fp;
+
+public:
+
+	SensorReader(const std::string& file) : file(file) {
+		rewind();
+	}
+
+	bool hasNext() {
+		return !fp.bad() && !fp.eof();
+	}
+
+	/** read the next sensor entry */
+	SensorEntry getNext() {
+
+		char delim;
+		SensorEntry entry;
+
+        fp >> entry.ts;
+		fp >> delim;
+		fp >> entry.idx;
+		fp >> delim;
+		fp >> entry.data;
+
+		return entry;
+
+
+	}
+
+	/** start again */
+	void rewind() {
+		fp.close();
+		fp.open(file);
+		assert(fp.is_open());
+	}
+
+
+};
+
+
+#endif // SENSORREADER_H

code/reader/SensorReaderStep.h

@@ -0,0 +1,49 @@
+#ifndef SENSORREADERSTEP_H
+#define SENSORREADERSTEP_H
+
+#include <fstream>
+
+/** entry for one sensor */
+struct SensorEntryStep {
+
+    /** sensor data */
+    float ts; //timestamp of the step
+
+
+
+};
+
+/** read sensor data from CSV */
+class SensorReaderStep {
+
+private:
+
+    std::ifstream fp;
+
+public:
+
+    SensorReaderStep(const std::string& file) {
+        fp.open(file);
+		assert(fp.is_open());
+    }
+
+    bool hasNext() {
+        return !fp.bad() && !fp.eof();
+    }
+
+    /** read the next sensor entry */
+    SensorEntryStep getNext() {
+
+        SensorEntryStep entry;
+
+        fp >> entry.ts;
+
+        return entry;
+
+
+    }
+
+
+};
+
+#endif // SENSORREADERSTEP_H

code/reader/SensorReaderTurn.h

@@ -0,0 +1,56 @@
+#ifndef SENSORREADERTURN_H
+#define SENSORREADERTURN_H
+
+#include <fstream>
+
+/** entry for one sensor */
+struct SensorEntryTurn {
+
+    /** timestamp of occurrence */
+    float ts;
+
+    /** sensor data */
+    float delta_heading;
+    float delta_motion;
+
+};
+
+/** read sensor data from CSV */
+class SensorReaderTurn {
+
+private:
+
+    std::ifstream fp;
+
+public:
+
+    SensorReaderTurn(const std::string& file) {
+        fp.open(file);
+		assert(fp.is_open());
+    }
+
+    bool hasNext() {
+        return !fp.bad() && !fp.eof();
+    }
+
+    /** read the next sensor entry */
+    SensorEntryTurn getNext() {
+
+        char delim;
+        SensorEntryTurn entry;
+
+        fp >> entry.ts;
+        fp >> delim;
+        fp >> entry.delta_heading;
+        fp >> delim;
+        fp >> entry.delta_motion;
+
+        return entry;
+
+
+    }
+
+
+};
+
+#endif // SENSORREADERTURN_H