local_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 <Eigen/Eigen>
#include <memory>
#include <optional>
#include <rclcpp/rclcpp.hpp>
 
namespace auterion {
class LocalPositionMeasurement {
   private:
    rclcpp::Time timestamp; 
    std::optional<Eigen::Vector2f> position_xy{
        std::nullopt}; 
    std::optional<Eigen::Vector2f> position_xy_variance{
        std::nullopt}; 
    std::optional<float> position_z{std::nullopt}; 
    std::optional<float> position_z_variance{
        std::nullopt}; 
    std::optional<Eigen::Vector3f> velocity{
        std::nullopt}; 
    std::optional<Eigen::Vector3f> velocity_variance{
        std::nullopt}; 
    std::optional<Eigen::Quaternionf> attitude{
        std::nullopt}; 
    std::optional<Eigen::Vector3f> attitude_variance{
        std::nullopt}; 
    friend class LocalNavigationInterfaceImpl;
 
   public:
    static constexpr float DEFAULT_POSITION_VARIANCE =
        0.01; 
    static constexpr float DEFAULT_VELOCITY_VARIANCE =
        0.01; 
    static constexpr float DEFAULT_ATTITUDE_VARIANCE =
        0.01; 
    LocalPositionMeasurement(const rclcpp::Time& measurement_time);
 
    LocalPositionMeasurement();
 
    ~LocalPositionMeasurement() = default;
 
    LocalPositionMeasurement& withPosition(
        const Eigen::Vector3f& position, const Eigen::Vector3f& position_variance =
                                             Eigen::Vector3f::Constant(DEFAULT_POSITION_VARIANCE));
 
    LocalPositionMeasurement& withPositionHorizontal(
        const Eigen::Vector2f& position_xy,
        const Eigen::Vector2f& position_xy_variance =
            Eigen::Vector2f::Constant(DEFAULT_POSITION_VARIANCE));
 
    LocalPositionMeasurement& withPositionVertical(
        const float position_z, const float position_z_variance = DEFAULT_POSITION_VARIANCE);
 
    LocalPositionMeasurement& withVelocity(
        const Eigen::Vector3f& velocity, const Eigen::Vector3f& velocity_variance =
                                             Eigen::Vector3f::Constant(DEFAULT_VELOCITY_VARIANCE));
 
    LocalPositionMeasurement& withAttitude(
        const Eigen::Quaternionf& attitude,
        const Eigen::Vector3f& attitude_variance =
            Eigen::Vector3f::Constant(DEFAULT_ATTITUDE_VARIANCE));
};
 
class SDK;
 
class LocalNavigationInterfaceImpl;
 
class LocalNavigationInterface {
   public:
    LocalNavigationInterface(SDK& sdk);
 
    ~LocalNavigationInterface() = default;
 
    void update(const LocalPositionMeasurement& measurement);
 
   private:
    std::shared_ptr<LocalNavigationInterfaceImpl> _impl;
};
 
}  // namespace auterion