Add GPSSensorOption enum

ros-controls · Jan 18, 2025 · a052502 · a052502
1 parent b4a1ee7
commit a052502
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Showing 2 changed files with 17 additions and 10 deletions.
diff --git a/controller_interface/include/semantic_components/gps_sensor.hpp b/controller_interface/include/semantic_components/gps_sensor.hpp
@@ -17,15 +17,20 @@
 
 #include <array>
 #include <string>
-#include <vector>
 
 #include "semantic_components/semantic_component_interface.hpp"
 #include "sensor_msgs/msg/nav_sat_fix.hpp"
 
 namespace semantic_components
 {
 
-template <bool use_covariance>
+enum class GPSSensorOption
+{
+  WithCovariance,
+  WithoutCovariance
+};
+
+template <GPSSensorOption sensor_option>
 class GPSSensor : public SemanticComponentInterface<sensor_msgs::msg::NavSatFix>
 {
 public:
@@ -37,7 +42,7 @@ class GPSSensor : public SemanticComponentInterface<sensor_msgs::msg::NavSatFix>
              {name + "/" + "longitude"},
              {name + "/" + "altitude"}})
   {
-    if constexpr (use_covariance)
+    if constexpr (sensor_option == GPSSensorOption::WithCovariance)
     {
       interface_names_.emplace_back(name + "/" + "latitude_covariance");
       interface_names_.emplace_back(name + "/" + "longitude_covariance");
@@ -88,7 +93,9 @@ class GPSSensor : public SemanticComponentInterface<sensor_msgs::msg::NavSatFix>
    *
    * \return Covariance array.
    */
-  template <typename U = void, typename = std::enable_if_t<use_covariance, U>>
+  template <
+    typename U = void,
+    typename = std::enable_if_t<sensor_option == GPSSensorOption::WithCovariance, U>>
   const std::array<double, 9> & get_covariance()
   {
     covariance_[0] = state_interfaces_[5].get().get_value();
@@ -108,7 +115,7 @@ class GPSSensor : public SemanticComponentInterface<sensor_msgs::msg::NavSatFix>
     message.longitude = get_longitude();
     message.altitude = get_altitude();
 
-    if constexpr (use_covariance)
+    if constexpr (sensor_option == GPSSensorOption::WithCovariance)
     {
       message.position_covariance = get_covariance();
     }

diff --git a/controller_interface/test/test_gps_sensor.cpp b/controller_interface/test/test_gps_sensor.cpp
@@ -16,8 +16,8 @@
 #include <gtest/gtest.h>
 #include <algorithm>
 #include <array>
-#include <iterator>
 #include <string>
+#include <vector>
 #include "hardware_interface/handle.hpp"
 #include "hardware_interface/loaned_state_interface.hpp"
 #include "semantic_components/gps_sensor.hpp"
@@ -42,8 +42,8 @@ struct GPSSensorTest : public testing::Test
   const std::array<std::string, 5> gps_interface_names{
     {"status", "service", "latitude", "longitude", "altitude"}};
   std::array<double, 5> gps_states{};
-  static constexpr bool use_covariance{false};
-  semantic_components::GPSSensor<use_covariance> sut{gps_sensor_name};
+  semantic_components::GPSSensor<semantic_components::GPSSensorOption::WithoutCovariance> sut{
+    gps_sensor_name};
   std::vector<std::string> full_interface_names;
 
   hardware_interface::StateInterface gps_state{
@@ -140,8 +140,8 @@ struct GPSSensorWithCovarianceTest : public testing::Test
     {"status", "service", "latitude", "longitude", "altitude", "latitude_covariance",
      "longitude_covariance", "altitude_covariance"}};
   std::array<double, 8> gps_states{};
-  static constexpr bool use_covariance{true};
-  semantic_components::GPSSensor<use_covariance> sut{gps_sensor_name};
+  semantic_components::GPSSensor<semantic_components::GPSSensorOption::WithCovariance> sut{
+    gps_sensor_name};
   std::vector<std::string> full_interface_names;
 
   hardware_interface::StateInterface gps_state{