.. _program_listing_file_src_navtk_inertial_BufferedPva.hpp:

Program Listing for File BufferedPva.hpp
========================================

|exhale_lsh| :ref:`Return to documentation for file <file_src_navtk_inertial_BufferedPva.hpp>` (``src/navtk/inertial/BufferedPva.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/not_null.hpp>
   #include <navtk/utils/Ordered.hpp>
   
   namespace {
   
   template <typename D, typename T>
   bool safe_deref(const navtk::filtering::TimestampedDataSeries<D, T>& buf,
                   typename navtk::utils::RingBuffer<std::shared_ptr<D>>::const_iterator& it) {
       return it != buf.cend() && *it != nullptr;
   }
   
   }  // namespace
   
   namespace navtk {
   namespace inertial {
   
   class BufferedPva {
   
   public:
       virtual ~BufferedPva() = default;
   
       BufferedPva(const BufferedPva&) = default;
   
       BufferedPva& operator=(const BufferedPva&) = default;
   
       BufferedPva(BufferedPva&&) = default;
   
       BufferedPva& operator=(BufferedPva&&) = default;
   
       virtual void add_data(not_null<std::shared_ptr<aspn_xtensor::AspnBase>> data) = 0;
   
       std::shared_ptr<aspn_xtensor::MeasurementPositionVelocityAttitude> calc_pva(
           const aspn_xtensor::TypeTimestamp& time) const;
   
       not_null<std::shared_ptr<aspn_xtensor::MeasurementPositionVelocityAttitude>> calc_pva() const;
   
       std::pair<aspn_xtensor::TypeTimestamp, aspn_xtensor::TypeTimestamp> time_span() const;
   
       std::pair<int64_t, int64_t> nsec_time_span() const;
   
       bool in_range(const aspn_xtensor::TypeTimestamp& t) const;
   
       virtual std::shared_ptr<aspn_xtensor::MeasurementImu> calc_force_and_rate(
           const aspn_xtensor::TypeTimestamp& time) const;
   
       virtual std::shared_ptr<aspn_xtensor::MeasurementImu> calc_force_and_rate(
           const aspn_xtensor::TypeTimestamp& time1, const aspn_xtensor::TypeTimestamp& time2) const;
   
   protected:
       BufferedPva(std::shared_ptr<aspn_xtensor::MeasurementPositionVelocityAttitude> pva = nullptr,
                   double expected_dt                                                     = 1.0,
                   double buffer_length                                                   = 60.0);
   
       BufferedPva(const aspn_xtensor::MeasurementPositionVelocityAttitude& pva,
                   double expected_dt   = 1.0,
                   double buffer_length = 60.0);
   
       filtering::TimestampedDataSeries<aspn_xtensor::MeasurementPositionVelocityAttitude,
                                        aspn_xtensor::TypeTimestamp>
           pva_buf;
   
       std::shared_ptr<aspn_xtensor::MeasurementPositionVelocityAttitude> calc_pva_no_check(
           const aspn_xtensor::TypeTimestamp& time) const;
   };
   
   }  // namespace inertial
   }  // namespace navtk