global_navigation.hpp

/****************************************************************************
 *
 * Copyright 2023 Auterion AG. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * 1. Redistributions of source code must retain the above copyright notice, this
 * list of conditions and the following disclaimer.
 *
 * 2. Redistributions in binary form must reproduce the above copyright notice,
 * this list of conditions and the following disclaimer in the documentation
 * and/or other materials provided with the distribution.
 *
 * 3. Neither the name of the copyright holder nor the names of its contributors
 * may be used to endorse or promote products derived from this software without
 * specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *
 ****************************************************************************/
 
#pragma once
 
#include <memory>
#include <optional>
#include <rclcpp/rclcpp.hpp>
 
namespace auterion {
class GlobalPositionMeasurement {
   private:
    rclcpp::Time timestamp; 
    std::optional<double> latitude_deg{std::nullopt};  
    std::optional<double> longitude_deg{std::nullopt}; 
    std::optional<float> horizontal_variance_m2{
        std::nullopt}; 
    std::optional<float> altitude_amsl_m{
        std::nullopt}; 
    std::optional<float> vertical_variance_m2{
        std::nullopt}; 
    friend class GlobalNavigationInterfaceImpl;
 
   public:
    static constexpr float DEFAULT_POSITION_VARIANCE = 0.81;
 
    GlobalPositionMeasurement(const rclcpp::Time& measurement_time);
 
    GlobalPositionMeasurement();
 
    ~GlobalPositionMeasurement() = default;
 
    GlobalPositionMeasurement& withPosition(
        const double latitude, const double longitude,
        const float horizontal_variance = DEFAULT_POSITION_VARIANCE);
 
    GlobalPositionMeasurement& withAltitude(
        const float altitude_amsl, const float vertical_variance = DEFAULT_POSITION_VARIANCE);
};
 
class SDK;
 
class GlobalNavigationInterfaceImpl;
 
class GlobalNavigationInterface {
   public:
    GlobalNavigationInterface(SDK& sdk);
 
    ~GlobalNavigationInterface() = default;
 
    void update(const GlobalPositionMeasurement& measurement);
 
    void reset_horizontal_position();
 
   private:
    std::shared_ptr<GlobalNavigationInterfaceImpl> _impl;
};
 
}  // namespace auterion