measurement.h

#ifndef MEASUREMENT_H
#define MEASUREMENT_H
#include "graphTools.h" 
 
 
class Measurement{
protected:
    bool valid =0;
    float value=0;
public:
    Measurement(){}
 
    bool isValid(){
        return valid;
    }
 
    float get_signed(){
        return value;
    }
 
    //returns unsigned value
    float get(){ 
        return fabs(value);
    }
 
    void set(float f){
        value =f;
    }
 
    void setValid(bool b){
        valid = b;
    }
 
    bool operator<(Measurement &);
 
    bool operator<=(Measurement &);
 
    bool operator>=(Measurement &);
 
    float getStandardError(Measurement, float); //relative standard error
 
};
 
class Angle: public Measurement{
    public:
    Angle(){}
    Angle(float f)
    {   value =round(f*1000)/1000;
        valid =1;}
};
 
class Distance: public Measurement{
    public:
    Distance(){}
    Distance(float f)
    {value = round(f*1000)/1000;
    valid =1;}
};
 
struct EndCriteria{
    Angle angle;
    Distance distance;    //max distance, ideal
    bool outOfSight=true;
    bool valid_d=false;
    float getStandardError(Angle, Distance);
    float getStandardError(Angle, Distance, State);
    bool hasEnd();
 
    void adjust(const b2Transform&);
 
};
 
 
struct EndedResult{
    bool ended=0;
    float estimatedCost=0; //dot product of end criteria
    float cost=0;
 
    EndedResult() = default;
 
};
 
float SignedVectorLength(b2Vec2);
 
 
#endif