global_position_assessor.hpp

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#pragma once
 
#include <Eigen/Eigen>
#include <auterion_sdk/system_state/system_state.hpp>
#include <auterion_sdk/utils/geometry.hpp>
#include <optional>
 
namespace auterion {
struct GlobalPositionAssessorConfig {
    float position_error_threshold_m{0.5F}; 
    GlobalPositionAssessorConfig& withPositionErrorThreshold(
        const float position_error_threshold_m) {
        this->position_error_threshold_m = position_error_threshold_m;
        return *this;
    }
};
 
class GlobalPositionAssessor {
   public:
    explicit GlobalPositionAssessor(
        const SystemState& system_state,
        const GlobalPositionAssessorConfig& config = GlobalPositionAssessorConfig{});
 
    ~GlobalPositionAssessor() = default;
 
    bool isPositionWithinThreshold(
        const Eigen::Vector3d& target_position,
        const std::optional<float> position_error_threshold_m = std::nullopt) const;
 
   private:
    std::shared_ptr<SystemState> _system_state; 
    GlobalPositionAssessorConfig _config; 
};
 
}  // namespace auterion