Resolve "Compass measurements"

Closes #18 (closed)

include/imu/capture/capture_compass.h

+#ifndef CAPTURE_COMPASS_H_
+#define CAPTURE_COMPASS_H_
+
+//Wolf includes
+#include "core/capture/capture_base.h"
+#include "imu/sensor/sensor_compass.h"
+
+//std includes
+//
+
+namespace wolf {
+
+WOLF_PTR_TYPEDEFS(CaptureCompass);
+
+//class CaptureCompass
+class CaptureCompass : public CaptureBase
+{
+    protected:
+        Eigen::Vector3d data_;              ///< Raw data (magnetic field).
+        Eigen::Matrix3d data_covariance_;   ///< Noise of the data.
+
+    public:
+
+        CaptureCompass(const TimeStamp& _ts,
+                       SensorBasePtr _sensor_ptr,
+                       const Eigen::Vector3d& _data) :
+            CaptureBase("CaptureCompass", _ts, _sensor_ptr),
+            data_(_data)
+        {
+            auto sensor_compass = std::dynamic_pointer_cast<SensorCompass>(_sensor_ptr);
+            assert(sensor_compass != nullptr && "CaptureCompass: Sensor should be of type SensorCompass");
+            data_covariance_ = sensor_compass->computeMeasurementCovariance(data_);
+        }
+
+        CaptureCompass(const TimeStamp& _ts,
+                       SensorBasePtr _sensor_ptr,
+                       const Eigen::Vector3d& _data,
+                       const Eigen::Matrix3d& _data_covariance) :
+            CaptureBase("CaptureCompass", _ts, _sensor_ptr),
+            data_(_data),
+            data_covariance_(_data_covariance)
+        {
+            assert((_sensor_ptr == nullptr or std::dynamic_pointer_cast<SensorCompass>(_sensor_ptr) != nullptr) && "CaptureCompass: Sensor should be of type SensorCompass");
+        }
+
+        ~CaptureCompass() override
+        {
+
+        }
+
+        const Eigen::Vector3d& getData() const
+        {
+            return data_;
+        }
+
+        const Eigen::Matrix3d& getDataCovariance() const
+        {
+            return data_covariance_;
+        }
+};
+
+} //namespace wolf
+#endif