gnss_compensator.h

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/******************************************************************************
 * Copyright 2023 The Apollo Authors. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *****************************************************************************/
 
#pragma once
 
#include "cyber/cyber.h"
#include "cyber/time/clock.h"
#include "cyber/time/time.h"
 
namespace apollo {
namespace localization {
 
class LocalizationGnssCompensator {
 public:
  ~LocalizationGnssCompensator();
 
  void ProcessCompensation(
    const uint64_t& current_send_tf_time, uint64_t* measurement_time);
 
 private:
  uint64_t last_send_tf_time_ = 0;
  uint64_t last_valid_gnss_time_ = 0;
  uint64_t last_compensated_gnss_time_ = 0;
 
  DECLARE_SINGLETON(LocalizationGnssCompensator)
};
 
}  // namespace localization
}  // namespace apollo