UnaryMeasurement.h

Go to the documentation of this file.

/*
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_UNARYMEASUREMENT_H
#define HOLISTIC_FUSION_UNARYMEASUREMENT_H
 
#include "holistic_fusion/measurements/Measurement.h"
 
namespace holistic_fusion {

class UnaryMeasurement : public Measurement {
 public:
  UnaryMeasurement(const std::string& measurementName, const int measurementRate, const std::string& sensorFrameName,
                   const std::string& sensorFrameCorrectedName, const RobustNorm robustNorm, const double timeStamp,
                   const double covarianceViolationThreshold)
      : Measurement(measurementName, measurementRate, sensorFrameName, sensorFrameCorrectedName, robustNorm, MeasurementTypeEnum::Unary),
        timeK_(timeStamp),
        covarianceViolationThreshold_(covarianceViolationThreshold) {}
 
  // Destructor
  ~UnaryMeasurement() override = default;
 
  // Summary for printout
  [[nodiscard]] virtual std::string summary() const {
    std::stringstream ss;
    ss << std::endl;
    ss << "Measurement Name: " << this->measurementName() << std::endl;
    ss << std::setprecision(14) << "Timestamp: " << this->timeK_ << std::endl;
    ss << "Sensor Frame: " << this->sensorFrameName() << std::endl;
    return ss.str();
  }
 
  // Overload << operator
  friend std::ostream& operator<<(std::ostream& os, const UnaryMeasurement& unaryMeasurement) {
    os << unaryMeasurement.summary();
    return os;
  }
 
  // Getters
  std::string& lv_sensorFrameName() { return sensorFrameName_; }
  [[nodiscard]] double timeK() const { return timeK_; }
  [[nodiscard]] double covarianceViolationThreshold() const { return covarianceViolationThreshold_; }
  const MeasurementTypeEnum& measurementTypeEnum() override { return measurementTypeEnum_; }
 
 protected:
  // Standard members
  double timeK_;
  double covarianceViolationThreshold_;
};
 
}  // namespace holistic_fusion
 
#endif  // HOLISTIC_FUSION_UNARYMEASUREMENT_H