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 *   Copyright (c) 2019 ECL Development Team. All rights reserved.
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 * modification, are permitted provided that the following conditions
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 * 1. Redistributions of source code must retain the above copyright
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 * 2. Redistributions in binary form must reproduce the above copyright
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/**
 * Feeds Ekf external vision data
 * @author Kamil Ritz <ka.ritz@hotmail.com>
 */
#pragma once

#include "sensor.h"

namespace sensor_simulator
{
namespace sensor
{

class Vio: public Sensor
{
public:
	Vio(std::shared_ptr<Ekf> ekf);
	~Vio();

	void setData(const extVisionSample& vio_data);
	void setVelocityVariance(const Vector3f& velVar);
	void setVelocityCovariance(const Matrix3f& velCov);
	void setPositionVariance(const Vector3f& posVar);
	void setAngularVariance(float angVar);
	void setVelocity(const Vector3f& vel);
	void setPosition(const Vector3f& pos);
	void setOrientation(const Quatf& quat);
	void setVelocityFrameToLocal();
	void setVelocityFrameToBody();

	extVisionSample dataAtRest();

private:
	extVisionSample _vio_data;

	void send(uint64_t time) override;

};

} // namespace sensor
} // namespace sensor_simulator
