Calibration.h

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#ifndef CALIBRATION_H
#define CALIBRATION_H
 
#include <ros/package.h>
#include <muse_v2_driver/MuseV2.h>
#include <muse_v2_driver/GetCalibrationParams.h>
#include <fstream>
 
namespace muse_v2_driver {
 
        class Calibration
        {
        public:
 
                struct CommandList
                {
                        bool get_gyroscope_offset = false;
                        bool get_accelerometer_calib_params = false;
                        bool get_magnetometer_calib_params = false;
 
                        bool calibrate_gyroscope = false;
                        bool calibrate_acceleromter = false;
                        bool calibrate_magnetometer = false;
 
                        bool operator==(const CommandList& rhs) const {
                                return  (
                                        (get_gyroscope_offset == rhs.get_gyroscope_offset) &&
                                        (get_accelerometer_calib_params == rhs.get_accelerometer_calib_params) &&
                                        (get_magnetometer_calib_params == rhs.get_magnetometer_calib_params) &&
                                        (calibrate_gyroscope == rhs.calibrate_gyroscope) &&
                                        (calibrate_acceleromter == rhs.calibrate_acceleromter) &&
                                        (calibrate_magnetometer == rhs.calibrate_magnetometer)
                                        );
                        }
 
                } default_command_list;
 
                CommandList input_command, received_command;
 
                Calibration() = default;
                ~Calibration() = default;
 
                void setupInputCommands(ros::NodeHandle& node);
                bool getCalibrationParams(GetCalibrationParams::Request& req, GetCalibrationParams::Response& res, MuseV2* muse_v2);
        };
}
 
#endif