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rosbag has a C++ API that you can use directly in your code: http://wiki.ros.org/rosbag/Code%20API

But I think everything you store will need to be ROS messages. So you'd need to define a ROS message type for your array, e.g. a file called "Foo.msg" which contains "float64[] some_array". Then you need to get catkin to generate code wrappers for that message.

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