Position3StaticTransforms.h

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/*
Copyright 2024 by Julian Nubert & Timon Mathis, Robotic Systems Lab & Autonomous 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 POSITION3_STATIC_TRANSFORMS_H
#define POSITION3_STATIC_TRANSFORMS_H
 
// Workspace
#include "holistic_fusion_ros/extrinsics/StaticTransformsTf.h"
 
namespace position3_se {
 
class Position3StaticTransforms : public holistic_fusion::StaticTransformsTf {
 public:
  Position3StaticTransforms(const std::shared_ptr<ros::NodeHandle> privateNodePtr, bool usePrism, bool useGnss);
 
  // Setters ---------------------------------------------------------------
  void setPrismPositionMeasFrame(const std::string& s) { prismPositionMeasFrame_ = s; }
  void setGnssPositionMeasFrame(const std::string& s) { gnssPositionMeasFrame_ = s; }
  void setGnssOfflinePoseMeasFrame(const std::string& s) { gnssOfflinePoseMeasFrame_ = s; }
 
  // Getters ---------------------------------------------------------------
  const std::string& getPrismPositionMeasFrame() { return prismPositionMeasFrame_; }
  const std::string& getGnssPositionMeasFrame() { return gnssPositionMeasFrame_; }
  const std::string& getGnssOfflinePoseMeasFrame() { return gnssOfflinePoseMeasFrame_; }
 
 protected:  // Methods
  bool findTransformations() override;
 
 private:  // Members
  // Frame names
  std::string prismPositionMeasFrame_;
  std::string gnssPositionMeasFrame_;
  std::string gnssOfflinePoseMeasFrame_;
 
  // Bools
  bool usePrism_;
  bool useGnss_;
};
 
}  // namespace position3_se
 
#endif  // end POSITION3_STATIC_TRANSFORMS_H