sensor_interface.h

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// Copyright (C) 2021 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 author at <christian.brommer@ieee.org>
 
#ifndef SENSORINTERFACE_H
#define SENSORINTERFACE_H
 
#include <mars/time.h>
#include <mars/type_definitions/buffer_data_type.h>
#include <mars/type_definitions/core_type.h>
#include <Eigen/Dense>
#include <memory>
 
namespace mars
{
class SensorInterface
{
public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  virtual ~SensorInterface() = default;
 
  virtual void set_initial_calib(std::shared_ptr<void> calibration) = 0;
 
  virtual BufferDataType Initialize(const Time& timestamp, std::shared_ptr<void> measurement,
                                    std::shared_ptr<CoreType> latest_core_data) = 0;
  virtual bool CalcUpdate(const Time& timestamp, std::shared_ptr<void> measurement,
                          const CoreStateType& prior_core_state_data, std::shared_ptr<void> latest_sensor_data,
                          const Eigen::MatrixXd& prior_cov, BufferDataType* new_state_data) = 0;
  virtual Eigen::MatrixXd get_covariance(const std::shared_ptr<void>& sensor_data) = 0;
 
protected:
  // SensorInterface(); // construction for child classes only
};
}  // namespace mars
#endif  // SENSORINTERFACE_H