Reading.hpp

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#pragma once
 
#include <sensor_msgs/Imu.h>
#include <geometry_msgs/WrenchStamped.h>
#include <sensor_msgs/Temperature.h>
 
#include <rokubimini/Statusword.hpp>
#include <boost/math/constants/constants.hpp>
 
namespace rokubimini
{
static constexpr double G_TO_METERS_PER_SECOND_SQUARED = 9.80665;
 
static constexpr double DEG_TO_RAD = boost::math::constants::pi<double>() / 180;
 
class Reading
{
public:
  using ImuType = sensor_msgs::Imu;
  using WrenchType = geometry_msgs::WrenchStamped;
  using TempType = sensor_msgs::Temperature;
 
  Reading() = default;
  virtual ~Reading() = default;
 
  const ImuType& getImu() const
  {
    return imu_;
  }
 
  ImuType& getImu()
  {
    return imu_;
  }
 
  const WrenchType& getWrench() const
  {
    return wrench_;
  }
 
  WrenchType& getWrench()
  {
    return wrench_;
  }
 
  const ImuType& getExternalImu() const
  {
    return externalImu_;
  }
 
  ImuType& getExternalImu()
  {
    return externalImu_;
  }
 
  const Statusword& getStatusword() const
  {
    return statusword_;
  }
 
  void setStatusword(const Statusword& statusword)
  {
    statusword_ = statusword;
  }
 
  bool isForceTorqueSaturated() const
  {
    return isForceTorqueSaturated_;
  }
 
  void setForceTorqueSaturated(const bool isForceTorqueSaturated)
  {
    isForceTorqueSaturated_ = isForceTorqueSaturated;
  }
 
  const TempType& getTemperature() const
  {
    return temperature_;
  }
 
  TempType& getTemperature()
  {
    return temperature_;
  }
 
  void setTemperature(const TempType& temperature)
  {
    temperature_ = temperature;
  }
 
protected:
  ImuType imu_;
 
  WrenchType wrench_;
 
  ImuType externalImu_;
 
  bool isForceTorqueSaturated_{ false };
 
  TempType temperature_;
 
  Statusword statusword_;
};
 
}  // namespace rokubimini