Abstraction for classes that fetch samples from a sensors and classes that are able to process samples.
A sample is a measurement taken by a sensors at a single moment in time.
A sample can have one or more elements. The number of elements in a sample depends on the sensors (and sensors mode).
Sample providers comply with standards.
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Sample providers use standard units.
- Length in meters
- Angle in degrees
- Temperature in degrees celcius
- Pressure in Pascal
- Speed in m/s
- Acceleration in m/s^2
- etc...
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When there is no clear unit a sample provider use normalized values in the range between 0 and 1.
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Sample providers that measure spatial data use a right handed cartesian coordinate system with the X-axis pointing forwards,
the Y-axis pointing to the left and the Z-axis pointing up.
(The plug of a sensors is always on its back.)
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A positive rotation of a mobile robot is a counterclockwise rotation.
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If a sample provider measures spatial data over more than one axis, the order of the elements in a sample corresponds with the X,Y and Z axis.
