.. _program_listing_file_src_navtk_inertial_AlignBase.hpp:

Program Listing for File AlignBase.hpp
======================================

|exhale_lsh| :ref:`Return to documentation for file <file_src_navtk_inertial_AlignBase.hpp>` (``src/navtk/inertial/AlignBase.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   #pragma once
   
   #include <navtk/aspn.hpp>
   #include <navtk/filtering/containers/ImuModel.hpp>
   #include <navtk/filtering/containers/NavSolution.hpp>
   #include <navtk/inertial/ImuErrors.hpp>
   #include <navtk/tensors.hpp>
   
   namespace navtk {
   namespace inertial {
   
   enum class MotionNeeded {
       NO_MOTION,
       MOTION_NEEDED,
       ANY_MOTION
   };
   
   class AlignBase {
   public:
       enum class AlignmentStatus {
           ALIGNING_COARSE,
           ALIGNING_FINE,
           ALIGNED_GOOD
       };
   
       enum class CovarianceFormat {
           PINSON15NEDBLOCK,
           PINSON21NEDBLOCK,
       };
   
   public:
       virtual ~AlignBase() = default;
   
       AlignBase(bool supports_static,
                 bool supports_dynamic,
                 const filtering::ImuModel& model = filtering::stim300_model());
   
       AlignBase(const AlignBase& other) = default;
   
       AlignBase(AlignBase&& other) = default;
   
       AlignBase& operator=(const AlignBase& other) = default;
   
       AlignBase& operator=(AlignBase&& other) = default;
   
       virtual AlignmentStatus process(std::shared_ptr<aspn_xtensor::AspnBase> message) = 0;
   
       bool requires_dynamic();
   
       AlignmentStatus check_alignment_status();
   
       virtual std::pair<bool, filtering::NavSolution> get_computed_alignment() const;
   
       virtual std::pair<bool, Matrix> get_computed_covariance(
           const CovarianceFormat format = CovarianceFormat::PINSON15NEDBLOCK) const;
   
       virtual std::pair<bool, ImuErrors> get_imu_errors() const;
   
       virtual MotionNeeded motion_needed() const = 0;
   
   protected:
       Matrix bias_stats_from_model(
           const CovarianceFormat format = CovarianceFormat::PINSON15NEDBLOCK) const;
   
       AlignmentStatus alignment_status = AlignmentStatus::ALIGNING_COARSE;
   
       std::pair<bool, filtering::NavSolution> computed_alignment;
   
       std::vector<aspn_xtensor::MeasurementImu> align_buffer;
   
       std::vector<aspn_xtensor::MeasurementPosition> gps_buffer;
   
       bool supports_static;
   
       bool supports_dynamic;
   
       filtering::ImuModel model;
   };
   
   }  // namespace inertial
   }  // namespace navtk