IMUPerception.hpp

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// Copyright 2025 Intelligent Robotics Lab
//
// This file is part of the project Easy Navigation (EasyNav in short)
// licensed under the GNU General Public License v3.0.
// See <http://www.gnu.org/licenses/> for details.
//
// Easy Navigation program is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.

 
#ifndef EASYNAV_COMMON_TYPES__IMUPERCEPTIONS_HPP_
#define EASYNAV_COMMON_TYPES__IMUPERCEPTIONS_HPP_
 
#include <string>
#include <vector>
 
#include "sensor_msgs/msg/imu.hpp"
 
#include "rclcpp_lifecycle/lifecycle_node.hpp"
 
#include "easynav_common/types/Perceptions.hpp"
 
namespace easynav
{

class IMUPerception : public PerceptionBase
{
public:
  static constexpr std::string_view default_group_ = "imu";

  static inline bool supports_msg_type(std::string_view t)
  {
    return t == "sensor_msgs/msg/Imu";
  }

  sensor_msgs::msg::Imu data;
};

class IMUPerceptionHandler : public PerceptionHandler
{
public:
  std::string group() const override {return "imu";}

  std::shared_ptr<PerceptionBase> create(const std::string &) override
  {
    return std::make_shared<IMUPerception>();
  }

  rclcpp::SubscriptionBase::SharedPtr create_subscription(
    rclcpp_lifecycle::LifecycleNode & node,
    const std::string & topic,
    const std::string & type,
    std::shared_ptr<PerceptionBase> target,
    rclcpp::CallbackGroup::SharedPtr cb_group) override;
};

using IMUPerceptions =
  std::vector<std::shared_ptr<IMUPerception>>;

rclcpp::Time get_latest_imu_perceptions_stamp(const IMUPerceptions & perceptions);
 
}  // namespace easynav
 
#endif  // EASYNAV_COMMON_TYPES__IMUPERCEPTIONS_HPP_