bodyvel_measurement_type.h

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// Copyright (C) 2021 Martin Scheiber and Christian Brommer, Control of Networked Systems, University of Klagenfurt,
// Austria.
//
// All rights reserved.
//
// This software is licensed under the terms of the BSD-2-Clause-License with
// no commercial use allowed, the full terms of which are made available
// in the LICENSE file. No license in patents is granted.
//
// You can contact the authors at <martin.scheiber@ieee.org>
// and <christian.brommer@ieee.org>.
 
#ifndef BODYVELMEASUREMENTTYPE_H
#define BODYVELMEASUREMENTTYPE_H
 
#include <mars/sensors/measurement_base_class.h>
#include <Eigen/Dense>
#include <utility>
 
namespace mars
{
class BodyvelMeasurementType : public BaseMeas
{
public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  Eigen::Vector3d velocity_;  
 
  BodyvelMeasurementType() = default;
 
  BodyvelMeasurementType(Eigen::Vector3d velocity) : velocity_(std::move(velocity))
  {
  }
 
  static std::string get_csv_state_header_string()
  {
    std::stringstream os;
    os << "t, ";
    os << "v_x, v_y, v_z";
 
    return os.str();
  }
 
  std::string to_csv_string(const double& timestamp) const
  {
    std::stringstream os;
    os.precision(17);
    os << timestamp;
 
    os << ", " << velocity_.x() << ", " << velocity_.y() << ", " << velocity_.z();
 
    return os.str();
  }
};
}  // namespace mars
#endif  // BODYVELMEASUREMENTTYPE_H