SimulatedLinearSensor.h

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/*
 * Copyright (C) 2016-2019 Istituto Italiano di Tecnologia (IIT)
 *
 * This software may be modified and distributed under the terms of the
 * BSD 3-Clause license. See the accompanying LICENSE file for details.
 */
 
#ifndef SIMULATEDLINEARSENSOR_H
#define SIMULATEDLINEARSENSOR_H
 
#include <BayesFilters/LinearModel.h>
#include <BayesFilters/SimulatedStateModel.h>
#include <BayesFilters/VectorDescription.h>
 
#include <memory>
 
namespace bfl {
    class SimulatedLinearSensor;
}
 
 
class bfl::SimulatedLinearSensor : public LinearModel
{
public:
    SimulatedLinearSensor(std::unique_ptr<bfl::SimulatedStateModel> simulated_state_model, const LinearMatrixComponent& linear_matrix_component, const Eigen::Ref<const Eigen::MatrixXd>& noise_covariance_matrix, const unsigned int seed);
 
    SimulatedLinearSensor(std::unique_ptr<bfl::SimulatedStateModel> simulated_state_model, const LinearMatrixComponent& linear_matrix_component, const Eigen::Ref<const Eigen::MatrixXd>& noise_covariance_matrix);
 
    virtual ~SimulatedLinearSensor() noexcept;
 
    bool freeze(const Data& data = Data()) override;
 
    std::pair<bool, bfl::Data> measure(const Data& data = Data()) const override;
 
    VectorDescription getInputDescription() const override;
 
    VectorDescription getMeasurementDescription() const override;
 
protected:
    std::unique_ptr<bfl::SimulatedStateModel> simulated_state_model_;
 
    Eigen::MatrixXd measurement_;
 
    VectorDescription input_description_;
 
    VectorDescription measurement_description_;
 
    void log() override;
};
 
#endif /* SIMULATEDLINEARSENSOR_H */