magnetic_model_manager.h

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#pragma once
 
// 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/optional.hpp>
#include <magnetic_model/magnetic_model.h>
#include <ros/time.h>
 
namespace magnetic_model
{
 
struct MagneticModelManagerPrivate;
 
class MagneticModelManager : public cras::HasLogger
{
public:
  explicit MagneticModelManager(const cras::LogHelperPtr& log, const cras::optional<std::string>& modelPath = {});
  virtual ~MagneticModelManager();
 
  std::string getModelPath() const;
 
  void setModelPath(const cras::optional<std::string>& modelPath);
 
  virtual std::string getBestMagneticModelName(const ros::Time& date) const;
 
  virtual cras::expected<std::shared_ptr<MagneticModel>, std::string> getMagneticModel(
    const ros::Time& stamp, bool strict) const;
 
  virtual cras::expected<std::shared_ptr<MagneticModel>, std::string> getMagneticModel(
    const std::string& name, bool strict) const;
 
protected:
  std::unique_ptr<MagneticModelManagerPrivate> data;
};
 
}