.. _program_listing_file_src_navtk_inertial_ImuErrors.hpp:

Program Listing for File ImuErrors.hpp
======================================

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

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

.. code-block:: cpp

   #pragma once
   
   #include <navtk/aspn.hpp>
   #include <navtk/factory.hpp>
   #include <navtk/tensors.hpp>
   
   namespace navtk {
   namespace inertial {
   
   struct ImuErrors : aspn_xtensor::AspnBase {
   
       Vector3 accel_biases;
   
       Vector3 gyro_biases;
   
       Vector3 accel_scale_factors;
   
       Vector3 gyro_scale_factors;
   
       aspn_xtensor::TypeTimestamp time_validity;
   
       ImuErrors(const Vector3& accel_biases             = zeros(3),
                 const Vector3& gyro_biases              = zeros(3),
                 const Vector3& accel_scale_factors      = zeros(3),
                 const Vector3& gyro_scale_factors       = zeros(3),
                 const aspn_xtensor::TypeTimestamp& time = aspn_xtensor::TypeTimestamp((int64_t)0),
                 AspnMessageType message_type            = ASPN_EXTENDED_BEGIN)
           : aspn_xtensor::TypeHeader(message_type, 0, 0, 0, 0),
             accel_biases(accel_biases),
             gyro_biases(gyro_biases),
             accel_scale_factors(accel_scale_factors),
             gyro_scale_factors(gyro_scale_factors),
             time_validity(time) {}
   };
   
   }  // namespace inertial
   }  // namespace navtk