.. _program_listing_file_src_navtk_inertial_BufferedImu.hpp:

Program Listing for File BufferedImu.hpp
========================================

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

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

.. code-block:: cpp

   #pragma once
   
   #include <memory>
   #include <utility>
   
   #include <navtk/aspn.hpp>
   #include <navtk/filtering/containers/TimestampedDataSeries.hpp>
   #include <navtk/inertial/BufferedPva.hpp>
   #include <navtk/inertial/ImuErrors.hpp>
   #include <navtk/inertial/Inertial.hpp>
   #include <navtk/inertial/MechanizationOptions.hpp>
   #include <navtk/inertial/MechanizationStandard.hpp>
   #include <navtk/not_null.hpp>
   #include <navtk/tensors.hpp>
   #include <navtk/utils/Ordered.hpp>
   
   namespace navtk {
   namespace inertial {
   
   class BufferedImu : public BufferedPva {
   
   public:
       BufferedImu(const aspn_xtensor::MeasurementPositionVelocityAttitude& pva,
                   std::shared_ptr<aspn_xtensor::MeasurementImu> initial_imu = nullptr,
                   double expected_dt                                        = 0.01,
                   const ImuErrors& imu_errs                                 = ImuErrors{},
                   const MechanizationOptions& mech_options                  = MechanizationOptions{},
                   double buffer_length                                      = 60.0);
   
       bool reset(
           std::shared_ptr<aspn_xtensor::MeasurementPositionVelocityAttitude> pva      = nullptr,
           std::shared_ptr<ImuErrors> imu_errs                                         = nullptr,
           std::shared_ptr<aspn_xtensor::MeasurementPositionVelocityAttitude> previous = nullptr);
   
       std::shared_ptr<aspn_xtensor::MeasurementPositionVelocityAttitude> calc_pva_no_reset_since(
           const aspn_xtensor::TypeTimestamp& time, const aspn_xtensor::TypeTimestamp& since) const;
   
       void add_data(not_null<std::shared_ptr<aspn_xtensor::AspnBase>> data) override;
   
       void mechanize(const aspn_xtensor::MeasurementImu& imu);
   
   
       void mechanize(std::shared_ptr<aspn_xtensor::MeasurementImu> imu);
   
       void mechanize(const aspn_xtensor::TypeTimestamp& time,
                      const Vector3& delta_v,
                      const Vector3& delta_theta);
   
       std::shared_ptr<aspn_xtensor::MeasurementImu> calc_force_and_rate(
           const aspn_xtensor::TypeTimestamp& time) const override;
   
       std::shared_ptr<aspn_xtensor::MeasurementImu> calc_force_and_rate(
           const aspn_xtensor::TypeTimestamp& time1,
           const aspn_xtensor::TypeTimestamp& time2) const override;
   
       std::shared_ptr<ImuErrors> get_imu_errors(const aspn_xtensor::TypeTimestamp& t) const;
   
   private:
       // Performs actual mechanization
       Inertial ins;
   
       // Buffers raw inertial inputs; a sorted container where the earlier times are in the front and
       // the later times are in the back.
       filtering::TimestampedDataSeries<aspn_xtensor::MeasurementImu, aspn_xtensor::TypeTimestamp>
           imu_buf;
   
       // Stores IMU error parameters supplied during resets; a sorted container where the earlier
       // times are in the front and the later times are in the back.
       filtering::TimestampedDataSeries<ImuErrors, aspn_xtensor::TypeTimestamp> reset_err_buf;
   
       // User-provided expected delta time between IMU measurements. Used until estimated_dt() can
       // provide a usable estimate
       double expected_dt;
   
       // Use to calculate average in estimated_dt()
       double dt_sum;
       long num_dt;
   
       // Provides an estimate of the delta time between IMU measurements, calculated from
       // measurements presumed valid
       double estimated_dt() const;
   };
   
   }  // namespace inertial
   }  // namespace navtk