sensor-base.hpp

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#ifndef SIMULATIONSENSORBASEHPP
#define SIMULATIONSENSORBASEHPP
 
#include <boost/assert.hpp>
#include <Eigen/Core>
 
#include <state-observation/api.h>
#include <state-observation/noise/noise-base.hpp>
 
namespace stateObservation
{
 
class STATE_OBSERVATION_DLLAPI SensorBase
{
public:
  SensorBase();

  virtual ~SensorBase() {}

  virtual Vector getMeasurements(bool noisy = true) = 0;

  virtual void setState(const Vector & state, TimeIndex k) = 0;

  virtual void setNoise(NoiseBase *);

  virtual NoiseBase * getNoise() const;

  virtual void resetNoise();

  virtual TimeIndex getTime() const = 0;

  virtual Index getStateSize() const = 0;

  virtual Index getMeasurementSize() const = 0;

  virtual Vector stateVectorZero() const;

  virtual bool checkStateVector(const Vector &) const;
 
protected:
  NoiseBase * noise_;
};
 
} // namespace stateObservation
 
#endif // SIMULATIONSENSORBASEHPP