Sensor.hpp
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/****************************************************************************
*
* Copyright (c) 2020 Estimation and Control Library (ECL). All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name ECL nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file Sensor.hpp
* Abstract class for sensors
*
* @author Mathieu Bresciani <brescianimathieu@gmail.com>
*
*/
#pragma once
#include "common.h"
namespace estimator
{
namespace sensor
{
class Sensor
{
public:
virtual ~Sensor() {};
/*
* run sanity checks on the current data
* this has to be called immediately after
* setting new data
*/
virtual void runChecks(){};
/*
* return true if the sensor is healthy
*/
virtual bool isHealthy() const = 0;
/*
* return true if the delayed sample is healthy
* and can be fused in the estimator
*/
virtual bool isDataHealthy() const = 0;
/*
* return true if the sensor data rate is
* stable and high enough
*/
virtual bool isRegularlySendingData() const = 0;
};
} // namespace sensor
} // namespace estimator