Configuration.hpp

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#pragma once

#include <climits>
#include <mutex>
#include <string>

// #define EIGEN_INITIALIZE_MATRICES_BY_NAN

#include <rokubimini/calibration/SensorCalibration.hpp>
#include <rokubimini/configuration/SensorConfiguration.hpp>
#include <rokubimini/configuration/ForceTorqueFilter.hpp>
#include <eigen3/Eigen/Core>

namespace rokubimini
{
namespace configuration
{
class Configuration
{
public:
  using NodeHandlePtr = std::shared_ptr<ros::NodeHandle>;
  Configuration() = default;

  Configuration(const Configuration& other);
  virtual ~Configuration() = default;

  Configuration& operator=(const Configuration& other);

  void load(const std::string& key, NodeHandlePtr nh);

  void setSetReadingToNanOnDisconnect(const bool setReadingToNanOnDisconnect);

  bool getSetReadingToNanOnDisconnect() const;

  void setForceTorqueFilter(const ForceTorqueFilter& forceTorqueFilter);

  const ForceTorqueFilter& getForceTorqueFilter() const;

  void setForceTorqueOffset(const Eigen::Matrix<double, 6, 1>& forceTorqueOffset);

  const Eigen::Matrix<double, 6, 1>& getForceTorqueOffset() const;

  void setUseCustomCalibration(const bool useCustomCalibration);

  bool getUseCustomCalibration() const;

  void setSensorConfiguration(const SensorConfiguration& sensorConfiguration);

  const SensorConfiguration& getSensorConfiguration() const;

  void setSensorCalibration(const calibration::SensorCalibration& sensorCalibration);

  const calibration::SensorCalibration& getSensorCalibration() const;

  void setImuAccelerationFilter(const unsigned int imuAccelerationFilter);

  unsigned int getImuAccelerationFilter() const;

  void setImuAngularRateFilter(const unsigned int imuAngularRateFilter);

  unsigned int getImuAngularRateFilter() const;

  void setImuAccelerationRange(const uint8_t imuAccelerationRange);

  uint8_t getImuAccelerationRange() const;

  void setImuAngularRateRange(const uint8_t imuAngularRateRange);

  uint8_t getImuAngularRateRange() const;

  void setSaveConfiguration(const bool saveConfiguration);

  bool getSaveConfiguration() const;

  bool hasImuAngularRateRange() const;

  bool hasSetReadingToNanOnDisconnect() const;

  bool hasSensorConfiguration() const;

  bool hasForceTorqueFilter() const;

  bool hasForceTorqueOffset() const;

  bool hasUseCustomCalibration() const;

  bool hasSensorCalibration() const;

  bool hasImuAccelerationRange() const;

  bool hasImuAccelerationFilter() const;

  bool hasImuAngularRateFilter() const;

  bool hasSaveConfiguration() const;
  void printConfiguration() const;

protected:
  mutable std::recursive_mutex mutex_;

  bool setReadingToNanOnDisconnect_;

  bool hasSetReadingToNanOnDisconnect_;

  ForceTorqueFilter forceTorqueFilter_;

  bool hasForceTorqueFilter_;

  SensorConfiguration sensorConfiguration_;

  bool hasSensorConfiguration_;

  bool useCustomCalibration_;

  bool hasUseCustomCalibration_;

  calibration::SensorCalibration sensorCalibration_;

  bool hasSensorCalibration_;

  unsigned int imuAccelerationFilter_;

  bool hasImuAccelerationFilter_;

  unsigned int imuAngularRateFilter_;

  bool hasImuAngularRateFilter_;

  unsigned int imuAccelerationRange_;

  bool hasImuAccelerationRange_;

  unsigned int imuAngularRateRange_;

  bool hasImuAngularRateRange_;

  Eigen::Matrix<double, 6, 1> forceTorqueOffset_;

  bool hasForceTorqueOffset_;

  bool saveConfiguration_;

  bool hasSaveConfiguration_;
};

}  // namespace configuration

}  // namespace rokubimini