bias_remover.h

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// 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 <cras_cpp_common/param_utils/bound_param_helper.hpp>
#include <sensor_msgs/MagneticField.h>
 
namespace magnetometer_pipeline
{
 
struct MagnetometerBiasRemoverPrivate;
 
class MagnetometerBiasRemover : public cras::HasLogger
{
public:
  explicit MagnetometerBiasRemover(const cras::LogHelperPtr& log);
  virtual ~MagnetometerBiasRemover();
 
  void configFromParams(const cras::BoundParamHelper& params);
 
  bool hasBias() const;
 
  bool hasScale() const;
 
  void setBias(const sensor_msgs::MagneticField& bias);
 
  cras::expected<sensor_msgs::MagneticField, std::string> removeBias(const sensor_msgs::MagneticField& mag);
 
private:
  std::unique_ptr<MagnetometerBiasRemoverPrivate> data;  
};
}