BinaryMeasurementXD.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_DELTAMEASUREMENT6D_H
#define HOLISTIC_FUSION_DELTAMEASUREMENT6D_H
 
#include "holistic_fusion/measurements/BinaryMeasurement.h"
 
namespace holistic_fusion {

template <class MEASUREMENT_TYPE, int DIM>
class BinaryMeasurementXD final : public BinaryMeasurement {
 public:
  BinaryMeasurementXD(const std::string& measurementName, const int measurementRate, const std::string& sensorFrameName,
                      const std::string& sensorFrameCorrectedName, const RobustNorm& robustNorm, const double timeKm1, const double timeK,
                      const MEASUREMENT_TYPE& deltaMeasurement, const Eigen::Matrix<double, DIM, 1> deltaMeasurementNoiseDensity)
      : BinaryMeasurement(measurementName, measurementRate, sensorFrameName, sensorFrameCorrectedName, robustNorm, timeKm1, timeK),
        deltaMeasurement_(deltaMeasurement),
        deltaMeasurementNoiseDensity_(deltaMeasurementNoiseDensity) {}
 
  // Destructor
  ~BinaryMeasurementXD() override = default;
 
  // Getters
  const MEASUREMENT_TYPE& deltaMeasurement() const { return deltaMeasurement_; }
  const Eigen::Matrix<double, DIM, 1>& measurementNoiseDensity() const { return deltaMeasurementNoiseDensity_; }
 
 protected:
  // Members
  MEASUREMENT_TYPE deltaMeasurement_;
  Eigen::Matrix<double, DIM, 1> deltaMeasurementNoiseDensity_;  // StdDev
};
 
}  // namespace holistic_fusion
 
#endif  // HOLISTIC_FUSION_DELTAMEASUREMENT_H