SoilSample.hpp

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#pragma once
 
#include <base/Eigen.hpp>
 
namespace traversability_generator3d
{
 
enum SoilType
{
    UNKNOWN_SOIL = -1,
    CONCRETE,
    ROCKS,
    SAND,
    GRAVEL
};
 
// Serialize the enum as an integer
template<class Archive>
void serialize(Archive & ar, SoilType & type, const unsigned int version) {
    ar & reinterpret_cast<int&>(type);
}
 
class SoilSample
{
public:
    
    SoilSample(): type(SoilType::UNKNOWN_SOIL), 
                  sigmaX(1), 
                  sigmaY(1), 
                  uncertainty(0),
                  location(0,0,0){};
 
    base::Vector3d location;  
    SoilType type;
    double sigmaX,sigmaY;
    double uncertainty;
 
    bool isValid() const {
        return (sigmaX > 0 && sigmaY > 0) && (uncertainty >= 0 && uncertainty <= 1);
    }
 
    bool operator==(const SoilSample& other) const {
        return location.isApprox(other.location) &&
            type == other.type &&
            sigmaX == other.sigmaX &&
            sigmaY == other.sigmaY &&
            uncertainty == other.uncertainty;
    }
 
};
}