Program Listing for File imu_2d_params.hpp

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#ifndef FUSE_MODELS__PARAMETERS__IMU_2D_PARAMS_HPP_
#define FUSE_MODELS__PARAMETERS__IMU_2D_PARAMS_HPP_

#include <string>
#include <vector>

#include <fuse_models/parameters/parameter_base.hpp>

#include <fuse_core/loss.hpp>
#include <fuse_core/parameter.hpp>
#include <fuse_variables/acceleration_linear_2d_stamped.hpp>
#include <fuse_variables/orientation_2d_stamped.hpp>
#include <fuse_variables/velocity_angular_2d_stamped.hpp>


namespace fuse_models
{

namespace parameters
{

struct Imu2DParams : public ParameterBase
{
public:
  void loadFromROS(
    fuse_core::node_interfaces::NodeInterfaces<
      fuse_core::node_interfaces::Base,
      fuse_core::node_interfaces::Logging,
      fuse_core::node_interfaces::Parameters
    > interfaces,
    const std::string & ns)
  {
    angular_velocity_indices =
      loadSensorConfig<fuse_variables::VelocityAngular2DStamped>(
      interfaces, fuse_core::joinParameterName(
        ns,
        "angular_velocity_dimensions"));
    linear_acceleration_indices =
      loadSensorConfig<fuse_variables::AccelerationLinear2DStamped>(
      interfaces, fuse_core::joinParameterName(
        ns,
        "linear_acceleration_dimensions"));
    orientation_indices = loadSensorConfig<fuse_variables::Orientation2DStamped>(
      interfaces, fuse_core::joinParameterName(
        ns,
        "orientation_dimensions"));

    differential = fuse_core::getParam(
      interfaces, fuse_core::joinParameterName(
        ns,
        "differential"),
      differential);
    disable_checks =
      fuse_core::getParam(
      interfaces, fuse_core::joinParameterName(
        ns,
        "disable_checks"),
      disable_checks);
    queue_size = fuse_core::getParam(
      interfaces, fuse_core::joinParameterName(
        ns,
        "queue_size"),
      queue_size);
    fuse_core::getPositiveParam(interfaces, "tf_timeout", tf_timeout, false);

    fuse_core::getPositiveParam(interfaces, "throttle_period", throttle_period, false);
    throttle_use_wall_time =
      fuse_core::getParam(
      interfaces, fuse_core::joinParameterName(
        ns,
        "throttle_use_wall_time"),
      throttle_use_wall_time);

    remove_gravitational_acceleration = fuse_core::getParam(
      interfaces, fuse_core::joinParameterName(
        ns, "remove_gravitational_acceleration"), remove_gravitational_acceleration);
    gravitational_acceleration =
      fuse_core::getParam(
      interfaces, fuse_core::joinParameterName(
        ns,
        "gravitational_acceleration"),
      gravitational_acceleration);
    fuse_core::getParamRequired(interfaces, fuse_core::joinParameterName(ns, "topic"), topic);

    if (differential) {
      independent = fuse_core::getParam(
        interfaces, fuse_core::joinParameterName(
          ns,
          "independent"),
        independent);
      use_twist_covariance =
        fuse_core::getParam(
        interfaces, fuse_core::joinParameterName(
          ns,
          "use_twist_covariance"),
        use_twist_covariance);

      minimum_pose_relative_covariance =
        fuse_core::getCovarianceDiagonalParam<3>(
        interfaces,
        fuse_core::joinParameterName(ns, "minimum_pose_relative_covariance_diagonal"), 0.0);
      twist_covariance_offset =
        fuse_core::getCovarianceDiagonalParam<3>(
        interfaces,
        fuse_core::joinParameterName(ns, "twist_covariance_offset_diagonal"), 0.0);
    }

    acceleration_target_frame =
      fuse_core::getParam(
      interfaces, fuse_core::joinParameterName(
        ns,
        "acceleration_target_frame"),
      acceleration_target_frame);
    orientation_target_frame =
      fuse_core::getParam(
      interfaces, fuse_core::joinParameterName(
        ns,
        "orientation_target_frame"),
      orientation_target_frame);
    twist_target_frame =
      fuse_core::getParam(
      interfaces, fuse_core::joinParameterName(
        ns,
        "twist_target_frame"),
      twist_target_frame);

    pose_loss =
      fuse_core::loadLossConfig(interfaces, fuse_core::joinParameterName(ns, "pose_loss"));
    angular_velocity_loss =
      fuse_core::loadLossConfig(
      interfaces, fuse_core::joinParameterName(
        ns,
        "angular_velocity_loss"));
    linear_acceleration_loss =
      fuse_core::loadLossConfig(
      interfaces,
      fuse_core::joinParameterName(ns, "linear_acceleration_loss"));
  }

  bool differential {false};
  bool disable_checks {false};
  bool independent {true};
  bool use_twist_covariance {true};
  fuse_core::Matrix3d minimum_pose_relative_covariance;
  fuse_core::Matrix3d twist_covariance_offset;
  bool remove_gravitational_acceleration {false};
  int queue_size {10};
  rclcpp::Duration tf_timeout {0, 0};
  rclcpp::Duration throttle_period {0, 0};
  bool throttle_use_wall_time {false};
  double gravitational_acceleration {9.80665};
  std::string acceleration_target_frame {};
  std::string orientation_target_frame {};
  std::string topic {};
  std::string twist_target_frame {};
  std::vector<size_t> angular_velocity_indices;
  std::vector<size_t> linear_acceleration_indices;
  std::vector<size_t> orientation_indices;
  fuse_core::Loss::SharedPtr pose_loss;
  fuse_core::Loss::SharedPtr angular_velocity_loss;
  fuse_core::Loss::SharedPtr linear_acceleration_loss;
};

}  // namespace parameters

}  // namespace fuse_models

#endif  // FUSE_MODELS__PARAMETERS__IMU_2D_PARAMS_HPP_