gnssSensor.hpp

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#ifndef PACSIMGNSSSENSOR_HPP
#define PACSIMGNSSSENSOR_HPP
 
#include "configParser.hpp"
#include "sensorBase.hpp"
#include "transform.hpp"
#include "types.hpp"
#include <queue>
#include <random>
 
class GnssSensor : public SensorBase<GnssData>
{
public:
    GnssSensor();
 
    void readConfig(ConfigElement& config);
 
    std::string getName();
 
    std::string getFrameId();
 
    bool RunTick(Eigen::Vector3d& gnssOrigin, Eigen::Vector3d& enuToTrackRotation, Eigen::Vector3d& trans,
        Eigen::Vector3d& rot, double time, Eigen::Vector3d velocity, Eigen::Vector3d omega,
        Eigen::Vector3d start_position, Eigen::Vector3d start_orientation, bool trackPreTransformed);
 
private:
    std::string name;
    std::string frame_id;
 
    int noiseSeed;
 
    Eigen::Vector3d errorSigmaPosition;
    Eigen::Vector3d errorMeanPosition;
 
    Eigen::Vector3d errorSigmaVelocity;
    Eigen::Vector3d errorMeanVelocity;
 
    Eigen::Vector3d errorSigmaOrientation;
    Eigen::Vector3d errorMeanOrientation;
 
    bool outputVelocity;
    int orientationMode;
};
 
#endif /* PACSIMGNSSSENSOR_HPP */