BinaryMeasurement.h

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/*
Copyright 2024 by Julian Nubert, Robotic Systems Lab, ETH Zurich.
All rights reserved.
This file is released under the "BSD-3-Clause License".
Please see the LICENSE file that has been included as part of this package.
 */
 
#ifndef HOLISTIC_FUSION_DELTAMEASUREMENT_H
#define HOLISTIC_FUSION_DELTAMEASUREMENT_H
 
#include "holistic_fusion/measurements/Measurement.h"
 
namespace holistic_fusion {

class BinaryMeasurement : public Measurement {
 public:
  BinaryMeasurement(const std::string& measurementName, const int measurementRate, const std::string& sensorFrameName,
                    const std::string& sensorFrameCorrectedName, const RobustNorm& robustNorm, const double timeKm1, const double timeK)
      : Measurement(measurementName, measurementRate, sensorFrameName, sensorFrameCorrectedName, robustNorm, MeasurementTypeEnum::Binary),
        timeKm1_(timeKm1),
        timeK_(timeK) {}
 
  // Destructor
  ~BinaryMeasurement() override = default;
 
  // Getters
  [[nodiscard]] double timeKm1() const { return timeKm1_; }
  [[nodiscard]] double timeK() const { return timeK_; }
 
  const MeasurementTypeEnum& measurementTypeEnum() override { return measurementTypeEnum_; }
 
 protected:
  // Standard members
  double timeKm1_;
  double timeK_;
};
 
}  // namespace holistic_fusion
 
#endif  // HOLISTIC_FUSION_DELTAMEASUREMENT_H