Program Listing for File sensor_config.hpp

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#ifndef FUSE_MODELS__COMMON__SENSOR_CONFIG_HPP_
#define FUSE_MODELS__COMMON__SENSOR_CONFIG_HPP_

#include <algorithm>
#include <functional>
#include <stdexcept>
#include <string>
#include <vector>

#include <fuse_models/common/variable_traits.hpp>

#include <boost/algorithm/string/case_conv.hpp>
#include <fuse_variables/acceleration_linear_2d_stamped.hpp>
#include <fuse_variables/orientation_2d_stamped.hpp>
#include <fuse_variables/position_2d_stamped.hpp>
#include <fuse_variables/velocity_angular_2d_stamped.hpp>
#include <fuse_variables/velocity_linear_2d_stamped.hpp>
#include <rclcpp/logging.hpp>


namespace fuse_models
{

namespace common
{

inline void throwDimensionError(const std::string & dimension)
{
  std::string error = "Dimension " + dimension + " is not valid for this type.";
  RCLCPP_ERROR_STREAM(rclcpp::get_logger("fuse"), error);
  throw std::runtime_error(error);
}

template<typename T>
std::enable_if_t<is_linear_2d<T>::value, size_t> toIndex(const std::string & dimension)
{
  auto lower_dim = boost::algorithm::to_lower_copy(dimension);
  if (lower_dim == "x") {return static_cast<size_t>(T::X);}
  if (lower_dim == "y") {return static_cast<size_t>(T::Y);}

  throwDimensionError(dimension);

  return 0u;
}

template<typename T>
std::enable_if_t<is_angular_2d<T>::value, size_t> toIndex(const std::string & dimension)
{
  auto lower_dim = boost::algorithm::to_lower_copy(dimension);
  if (lower_dim == "yaw" || lower_dim == "z") {
    return static_cast<size_t>(fuse_variables::Orientation2DStamped::YAW);
  }

  throwDimensionError(dimension);

  return 0u;
}

template<typename T>
std::vector<size_t> getDimensionIndices(const std::vector<std::string> & dimension_names)
{
  std::vector<size_t> indices;
  indices.reserve(dimension_names.size());

  std::transform(
    dimension_names.begin(),
    dimension_names.end(),
    std::back_inserter(indices),
    toIndex<T>);

  // Remove duplicates
  std::sort(indices.begin(), indices.end());
  indices.erase(std::unique(indices.begin(), indices.end()), indices.end());

  return indices;
}

}  // namespace common

}  // namespace fuse_models

#endif  // FUSE_MODELS__COMMON__SENSOR_CONFIG_HPP_