Reading.hpp

Go to the documentation of this file.

#pragma once

#include <sensor_msgs/Imu.h>
#include <geometry_msgs/WrenchStamped.h>
#include <sensor_msgs/Temperature.h>

#include <rokubimini/Statusword.hpp>
#include <boost/math/constants/constants.hpp>

namespace rokubimini
{
static constexpr double G_TO_METERS_PER_SECOND_SQUARED = 9.80665;

static constexpr double DEG_TO_RAD = boost::math::constants::pi<double>() / 180;

class Reading
{
public:
  using ImuType = sensor_msgs::Imu;
  using WrenchType = geometry_msgs::WrenchStamped;
  using TempType = sensor_msgs::Temperature;

  Reading() = default;
  virtual ~Reading() = default;

  const ImuType& getImu() const
  {
    return imu_;
  }

  ImuType& getImu()
  {
    return imu_;
  }

  const WrenchType& getWrench() const
  {
    return wrench_;
  }

  WrenchType& getWrench()
  {
    return wrench_;
  }

  const ImuType& getExternalImu() const
  {
    return externalImu_;
  }

  ImuType& getExternalImu()
  {
    return externalImu_;
  }

  const Statusword& getStatusword() const
  {
    return statusword_;
  }

  void setStatusword(const Statusword& statusword)
  {
    statusword_ = statusword;
  }

  bool isForceTorqueSaturated() const
  {
    return isForceTorqueSaturated_;
  }

  void setForceTorqueSaturated(const bool isForceTorqueSaturated)
  {
    isForceTorqueSaturated_ = isForceTorqueSaturated;
  }

  const TempType& getTemperature() const
  {
    return temperature_;
  }

  TempType& getTemperature()
  {
    return temperature_;
  }

  void setTemperature(const TempType& temperature)
  {
    temperature_ = temperature;
  }

protected:
  ImuType imu_;

  WrenchType wrench_;

  ImuType externalImu_;

  bool isForceTorqueSaturated_{ false };

  TempType temperature_;

  Statusword statusword_;
};

}  // namespace rokubimini