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_