SensorConfiguration.hpp

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#pragma once

#include <cstdint>
#include <ros/console.h>
#include <ros/node_handle.h>

namespace rokubimini
{
namespace configuration
{
class SensorConfiguration
{
public:
  using NodeHandlePtr = std::shared_ptr<ros::NodeHandle>;
  SensorConfiguration() = default;

  SensorConfiguration(const uint8_t calibrationMatrixActive, const uint8_t temperatureCompensationActive,
                      const uint8_t imuActive, const uint8_t coordinateSystemConfigurationActive,
                      const uint8_t inertiaCompensationActive, const uint8_t orientationEstimationActive);

  ~SensorConfiguration() = default;

  bool load(const std::string& key, NodeHandlePtr nh);

  uint8_t getCalibrationMatrixActive() const
  {
    return calibrationMatrixActive_;
  }

  void setCalibrationMatrixActive(const uint8_t calibrationMatrixActive)
  {
    calibrationMatrixActive_ = calibrationMatrixActive;
  }

  uint8_t getTemperatureCompensationActive() const
  {
    return temperatureCompensationActive_;
  }

  void setTemperatureCompensationActive(const uint8_t temperatureCompensationActive)
  {
    temperatureCompensationActive_ = temperatureCompensationActive;
  }

  uint8_t getImuActive() const
  {
    return imuActive_;
  }

  void setImuActive(const uint8_t imuActive)
  {
    imuActive_ = imuActive;
  }

  uint8_t getCoordinateSystemConfigurationActive() const
  {
    return coordinateSystemConfigurationActive_;
  }

  void setCoordinateSystemConfigurationActive(const uint8_t coordinateSystemConfigurationActive)
  {
    coordinateSystemConfigurationActive_ = coordinateSystemConfigurationActive;
  }

  uint8_t getInertiaCompensationActive() const
  {
    return inertiaCompensationActive_;
  }

  void setInertiaCompensationActive(const uint8_t inertiaCompensationActive)
  {
    inertiaCompensationActive_ = inertiaCompensationActive;
  }

  uint8_t getOrientationEstimationActive() const
  {
    return orientationEstimationActive_;
  }

  void setOrientationEstimationActive(const uint8_t orientationEstimationActive)
  {
    orientationEstimationActive_ = orientationEstimationActive;
  }

  void print() const;

private:
  uint8_t calibrationMatrixActive_;

  uint8_t temperatureCompensationActive_;

  uint8_t imuActive_;

  uint8_t coordinateSystemConfigurationActive_;

  uint8_t inertiaCompensationActive_;

  uint8_t orientationEstimationActive_;
};

}  // namespace configuration
}  // namespace rokubimini