file.hpp

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#ifndef QTCTRL_FILE_CTRL
#define QTCTRL_FILE_CTRL

#include <iostream>
#include <fstream>               // to get ifstream definition
#include <ctrl/controller.hpp>

class FileCtrl : public Controller {
protected:
  std::ifstream *input;  

  bool inputOK() const
  { return (input != NULL) && ( input->is_open() ); }

  bool inputEnded() const
  { return (input != NULL) && ( input->eof() ); }
    
  void inputEnd() 
  { if ( inputOK() ) { input->close(); delete input; } }
  
public:
  FileCtrl(const MotionModel& model, const double& ts,
           const char* input_file_name = NULL)
    : Controller(model, ts), input( input_file_name == NULL ? NULL :
                                    new std::ifstream(input_file_name)
                                    ) {
   // std::cout << "Ctrl File: '" << input_file_name << "'\n";
  }
  
  virtual ~FileCtrl() { inputEnd(); }
    
  void setInput(const char* input_file_name) {
    inputEnd();  // if the stream was open, close it...
    input = new std::ifstream(input_file_name); 
  }
  
  // Cf Controller::chooseVelocities(...)
  void chooseVelocities(double& trans_vel, double& rot_vel,
                        std::ostream& log_str);
  
}; // end of class FileCtrl

#endif // QTCTRL_FILE_CTRL