.. _program_listing_file_src_navtk_inertial_Inertial.hpp:

Program Listing for File Inertial.hpp
=====================================

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

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

.. code-block:: cpp

   #pragma once
   
   #include <memory>
   
   #include <navtk/inertial/AidingAltData.hpp>
   #include <navtk/inertial/ImuErrors.hpp>
   #include <navtk/inertial/InertialPosVelAtt.hpp>
   #include <navtk/inertial/Mechanization.hpp>
   #include <navtk/inertial/MechanizationOptions.hpp>
   #include <navtk/inertial/MechanizationStandard.hpp>
   #include <navtk/inertial/StandardPosVelAtt.hpp>
   #include <navtk/inertial/WanderPosVelAtt.hpp>
   #include <navtk/inertial/mechanization_standard.hpp>
   #include <navtk/not_null.hpp>
   #include <navtk/tensors.hpp>
   
   namespace navtk {
   namespace inertial {
   
   using MechanizationFunction = std::function<not_null<std::shared_ptr<InertialPosVelAtt>>(
       const Vector3& dv,
       const Vector3& dth,
       const double dt,
       const not_null<std::shared_ptr<InertialPosVelAtt>> ref,
       const not_null<std::shared_ptr<InertialPosVelAtt>> old_ref,
       const MechanizationOptions& options,
       AidingAltData* aiding_alt_data)>;
   
   class Inertial final {
   
   public:
       explicit Inertial(const not_null<std::shared_ptr<InertialPosVelAtt>> start_pva =
                             std::make_shared<StandardPosVelAtt>(),
                         const MechanizationOptions& mech_options = MechanizationOptions{},
                         MechanizationFunction mech_fun =
                             static_cast<not_null<std::shared_ptr<InertialPosVelAtt>> (*)(
                                 const Vector3&,
                                 const Vector3&,
                                 const double,
                                 const not_null<std::shared_ptr<InertialPosVelAtt>>,
                                 const not_null<std::shared_ptr<InertialPosVelAtt>>,
                                 const MechanizationOptions&,
                                 AidingAltData* aiding_alt_data)>(mechanization_standard));
   
       explicit Inertial(not_null<std::shared_ptr<Mechanization>> mech_class,
                         const not_null<std::shared_ptr<InertialPosVelAtt>> start_pva =
                             std::make_shared<StandardPosVelAtt>(),
                         const MechanizationOptions& mech_options = MechanizationOptions{});
   
       Inertial(const Inertial& ins);
   
       Inertial& operator=(const Inertial& ins);
   
       Inertial(Inertial&&) = default;
   
       Inertial& operator=(Inertial&&) = default;
   
       ~Inertial() noexcept = default;
   
       void reset(const not_null<std::shared_ptr<InertialPosVelAtt>> new_pva,
                  const std::shared_ptr<InertialPosVelAtt> old_pva = nullptr);
   
       void reset(StandardPosVelAtt new_pva);
   
       void reset(WanderPosVelAtt new_pva);
   
       not_null<std::shared_ptr<InertialPosVelAtt>> get_solution() const;
   
       Vector3 get_gyro_biases() const;
   
       void set_gyro_biases(Vector3 gyro_biases);
   
       Vector3 get_gyro_scale_factors() const;
   
       void set_gyro_scale_factors(Vector3 gyro_scale_factors);
   
       Vector3 get_accel_biases() const;
   
       void set_accel_biases(Vector3 accel_biases);
   
       Vector3 get_accel_scale_factors() const;
   
       void set_accel_scale_factors(Vector3 accel_scale_factors);
   
       void set_imu_errors(const ImuErrors& errors);
   
       void mechanize(const aspn_xtensor::TypeTimestamp& time,
                      const Vector3& accel_meas,
                      const Vector3& gyro_meas,
                      AidingAltData* aiding_alt_data = nullptr);
       double integrated_alt_error;
   
   private:
       not_null<std::shared_ptr<InertialPosVelAtt>> pva;
       not_null<std::shared_ptr<InertialPosVelAtt>> pva_old1;
       Vector3 gyro_bias;
       Vector3 gyro_scale_factor;
       Vector3 accel_bias;
       Vector3 accel_scale_factor;
       MechanizationFunction _mech_fun;
       MechanizationOptions _mech_options;
   
       void apply_error_model(double dt);
       Vector3 dv_cpy;
       Vector3 dth_cpy;
   };
   
   }  // namespace inertial
   }  // namespace navtk