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, const 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