// Copyright (C) 2022 Christian Brommer, Control of Networked Systems, University of Klagenfurt, Austria.
//
// All rights reserved.
//
// This software is licensed under the terms of the BSD-2-Clause-License with
// no commercial use allowed, the full terms of which are made available
// in the LICENSE file. No license in patents is granted.
//
// You can contact the author at <christian.brommer@ieee.org>

#ifndef EMPTYSENSORSTATETYPE_H
#define EMPTYSENSORSTATETYPE_H

#include <mars/type_definitions/base_states.h>
#include <Eigen/Dense>

namespace mars
{
class EmptySensorStateType : public BaseStates
{
public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW

  Eigen::Vector3d value_;

  EmptySensorStateType() : BaseStates(3)  // cov size
  {
    value_.setZero();
  }

  static std::string get_csv_state_header_string()
  {
    std::stringstream os;
    os << "t, ";
    os << "value";

    return os.str();
  }

  ///
  /// \brief to_csv_string export state to single csv string
  /// \param timestamp
  /// \return string format [value]
  ///
  std::string to_csv_string(const double& timestamp) const
  {
    std::stringstream os;
    os.precision(17);
    os << timestamp;

    os << ", " << value_(0) << ", " << value_(1) << ", " << value_(2);
    return os.str();
  }
};
}  // namespace mars
#endif  // EMPTYSENSORSTATETYPE_H
