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/*
* Copyright 2019 Open Source Robotics Foundation
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
*/
#ifndef SDF_MAGNETOMETER_HH_
#define SDF_MAGNETOMETER_HH_
#include <sdf/Error.hh>
#include <sdf/Element.hh>
#include <sdf/Noise.hh>
#include <sdf/sdf_config.h>
namespace sdf
{
// Inline bracke to help doxygen filtering.
inline namespace SDF_VERSION_NAMESPACE {
//
class MagnetometerPrivate;
/// \brief Magnetometer contains information about a magnetometer sensor.
/// This sensor can be attached to a link.
class SDFORMAT_VISIBLE Magnetometer
{
/// \brief Default constructor
public: Magnetometer();
/// \brief Copy constructor
/// \param[in] _magnetometer Magnetometer to copy.
public: Magnetometer(const Magnetometer &_magnetometer);
/// \brief Move constructor
/// \param[in] _magnetometer Magnetometer to move.
public: Magnetometer(Magnetometer &&_magnetometer) noexcept;
/// \brief Destructor
public: ~Magnetometer();
/// \brief Assignment operator.
/// \param[in] _magnetometer The magnetometer to set values from.
/// \return *this
public: Magnetometer &operator=(const Magnetometer &_magnetometer);
/// \brief Move assignment operator.
/// \param[in] _magnetometer The magnetometer to set values from.
/// \return *this
public: Magnetometer &operator=(Magnetometer &&_magnetometer);
/// \brief Load the magnetometer based on an element pointer. This is *not*
/// the usual entry point. Typical usage of the SDF DOM is through the Root
/// object.
/// \param[in] _sdf The SDF Element pointer
/// \return Errors, which is a vector of Error objects. Each Error includes
/// an error code and message. An empty vector indicates no error.
public: Errors Load(ElementPtr _sdf);
/// \brief Get a pointer to the SDF element that was used during
/// load.
/// \return SDF element pointer. The value will be nullptr if Load has
/// not been called.
public: sdf::ElementPtr Element() const;
/// \brief Get the noise values related to the body-frame x axis.
/// \return Noise values for the x axis.
public: const Noise &XNoise() const;
/// \brief Set the noise values related to the body-frame x axis.
/// \param[in] _noise Noise values for the x axis.
public: void SetXNoise(const Noise &_noise);
/// \brief Get the noise values related to the body-frame y axis.
/// \return Noise values for the y axis.
public: const Noise &YNoise() const;
/// \brief Set the noise values related to the body-frame y axis.
/// \param[in] _noise Noise values for the y axis.
public: void SetYNoise(const Noise &_noise);
/// \brief Get the noise values related to the body-frame z axis.
/// \return Noise values for the z axis.
public: const Noise &ZNoise() const;
/// \brief Set the noise values related to the body-frame z axis.
/// \param[in] _noise Noise values for the z axis.
public: void SetZNoise(const Noise &_noise);
/// \brief Return true if both Magnetometer objects contain the same values.
/// \param[_in] _mag Magnetometer value to compare.
/// \returen True if 'this' == _mag.
public: bool operator==(const Magnetometer &_mag) const;
/// \brief Return true this Magnetometer object does not contain the same
/// values as the passed in parameter.
/// \param[_in] _mag Magnetometer value to compare.
/// \returen True if 'this' != _mag.
public: bool operator!=(const Magnetometer &_mag) const;
/// \brief Private data pointer.
private: MagnetometerPrivate *dataPtr;
};
}
}
#endif
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