gps.hpp

// Copyright 2024 Jacob Hartzer
//
// This program is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program.  If not, see <https://www.gnu.org/licenses/>.
 
#ifndef SENSORS__GPS_HPP_
#define SENSORS__GPS_HPP_
 
#include <eigen3/Eigen/Eigen>
 
#include <string>
#include <memory>
 
#include "ekf/types.hpp"
#include "ekf/update/gps_updater.hpp"
#include "infrastructure/debug_logger.hpp"
#include "sensors/gps_message.hpp"
#include "sensors/sensor.hpp"
 
class GPS : public Sensor
{
public:
  typedef struct Parameters : public Sensor::Parameters
  {
    Eigen::Vector3d pos_a_in_b {0, 0, 0};           
    Eigen::Vector3d variance {{1, 1, 1}};           
    bool is_extrinsic {false};                      
    double pos_stability {1e-9};                    
  } Parameters;
 
  explicit GPS(GPS::Parameters params);
 
  void Callback(const GpsMessage & gps_message);
 
private:
  std::shared_ptr<EKF> m_ekf;
  GpsUpdater m_gps_updater;
};
 
#endif  // SENSORS__GPS_HPP_