magnetic_model.h

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#pragma once
 
// SPDX-License-Identifier: BSD-3-Clause
// SPDX-FileCopyrightText: Czech Technical University in Prague
 
#include <memory>
#include <string>
 
#include <cras_cpp_common/expected.hpp>
#include <cras_cpp_common/log_utils.h>
#include <geometry_msgs/Vector3.h>
#include <ros/time.h>
#include <sensor_msgs/MagneticField.h>
#include <sensor_msgs/NavSatFix.h>
 
namespace magnetic_model
{
 
struct MagneticField
{
  sensor_msgs::MagneticField field;  
  geometry_msgs::Vector3 dt;  
  geometry_msgs::Vector3 error;  
};
 
struct MagneticFieldComponents
{
  double horizontalMagnitude;  
  double totalMagnitude;  
  double declination;  
  double inclination;  
};
 
struct MagneticFieldComponentProperties
{
  MagneticFieldComponents values;  
  MagneticFieldComponents dt;  
  MagneticFieldComponents errors;  
};
 
struct MagneticModelPrivate;
 
class MagneticModel : public cras::HasLogger
{
public:
  static const char* WMM2010;  
  static const char* WMM2015;  
  static const char* WMM2020;  
  static const char* WMM2025;  
 
  MagneticModel(const cras::LogHelperPtr& log, const std::string& name, const std::string& modelPath, bool strict);
  virtual ~MagneticModel();
 
  virtual bool isValid(const ros::Time& time) const;
 
  virtual bool isValid(int year) const;
 
  virtual cras::expected<MagneticField, std::string> getMagneticField(
    const sensor_msgs::NavSatFix& fix, const ros::Time& stamp) const;
 
  virtual cras::expected<MagneticFieldComponentProperties, std::string> getMagneticFieldComponents(
    const sensor_msgs::NavSatFix& fix, const ros::Time& stamp) const;
 
  virtual cras::expected<MagneticFieldComponentProperties, std::string> getMagneticFieldComponents(
    const MagneticField& field, const ros::Time& stamp) const;
 
protected:
  bool strict {true};
 
  std::unique_ptr<MagneticModelPrivate> data;
};
 
}