magnetometer_compass.h

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// SPDX-License-Identifier: BSD-3-Clause
// SPDX-FileCopyrightText: Czech Technical University in Prague
 
#include <memory>
#include <string>
 
#include <compass_msgs/Azimuth.h>
#include <cras_cpp_common/expected.hpp>
#include <cras_cpp_common/log_utils.h>
#include <cras_cpp_common/param_utils/bound_param_helper.hpp>
#include <cras_cpp_common/tf2_utils/interruptible_buffer.h>
#include <sensor_msgs/Imu.h>
#include <sensor_msgs/MagneticField.h>
#include <tf2/buffer_core.h>
 
namespace magnetometer_compass
{
 
struct MagnetometerCompassPrivate;
 
class MagnetometerCompass : public cras::HasLogger
{
public:
  MagnetometerCompass(const cras::LogHelperPtr& log, const std::string& frame,
                      const std::shared_ptr<tf2::BufferCore>& tf);
 
  MagnetometerCompass(const cras::LogHelperPtr& log, const std::string& frame,
    const std::shared_ptr<cras::InterruptibleTFBuffer>& tf);
 
  virtual ~MagnetometerCompass();
 
  virtual void configFromParams(const cras::BoundParamHelper& params);
 
  virtual void setLowPassRatio(double ratio);
 
  virtual cras::expected<compass_msgs::Azimuth, std::string> computeAzimuth(
    const sensor_msgs::Imu& imu, const sensor_msgs::MagneticField& magUnbiased);
 
  virtual void reset();
 
protected:
  virtual void updateVariance();
 
private:
  std::unique_ptr<MagnetometerCompassPrivate> data;  
};
}