/*

* This file is part of the GreasePad distribution (https://github.com/FraunhoferIOSB/GreasePad).

* Copyright (c) 2022-2026 Jochen Meidow, Fraunhofer IOSB

*

* This program is free software: you can redistribute it and/or modify

* it under the terms of the GNU General Public License as published by

* the Free Software Foundation, either version 3 of the License, or

* (at your option) any later version.

*

* This program is distributed in the hope that it will be useful,

* but WITHOUT ANY WARRANTY; without even the implied warranty of

* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the

* GNU General Public License for more details.

*

* You should have received a copy of the GNU General Public License

* along with this program. If not, see <https://www.gnu.org/licenses/>.

*/

#ifndef UDISTANCE_H

#define UDISTANCE_H

//#include <Eigen/Core>

//#include <Eigen/Dense>

#include <cassert>

#include <cmath>

namespace Uncertain {

//! Uncertain distance

class uDistance

{

public:

//! Construct uncertain distance with distance and its variance

uDistance( const double d, const double var_d) : m_d(d), m_var_d(var_d) {

assert( var_d >= 0);

}

//! Get variance of distance

[[nodiscard]] double var_d() const { return m_var_d; }

//! Get distance

[[nodiscard]] double d() const { return m_d; }

//! Check if distance is greater than zero.

[[nodiscard]] bool isGreaterThanZero( const double T) const {

if (m_var_d <= 0.0) {

return false;

}

return m_d / std::sqrt(m_var_d) > -T;

}

//! Check if distance is less than zero.

[[nodiscard]] bool isLessThanZero( const double T) const {

if (m_var_d <= 0.0) {

return false;

}

return m_d / std::sqrt(m_var_d) < +T;

}

private:

double m_d;

double m_var_d;

};

} // namespace Uncertain

#endif // UDISTANCE_H