.. _program_listing_file_src_navtk_inertial_ManualAlignment.hpp:

Program Listing for File ManualAlignment.hpp
============================================

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

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

.. code-block:: cpp

   #pragma once
   
   #include <navtk/aspn.hpp>
   #include <navtk/inertial/AlignBase.hpp>
   #include <navtk/tensors.hpp>
   
   namespace navtk {
   namespace inertial {
   
   class ManualAlignment : public AlignBase {
   public:
       ManualAlignment(const aspn_xtensor::MeasurementPositionVelocityAttitude& pva,
                       bool wait_for_time               = false,
                       bool wait_for_pos                = false,
                       bool wait_for_vel                = false,
                       bool wait_for_att                = false,
                       const filtering::ImuModel& model = filtering::stim300_model());
   
       AlignBase::AlignmentStatus process(std::shared_ptr<aspn_xtensor::AspnBase> message) override;
   
       std::pair<bool, Matrix> get_computed_covariance(
           const CovarianceFormat format = CovarianceFormat::PINSON15NEDBLOCK) const override;
   
       MotionNeeded motion_needed() const override;
   
   private:
       /* The timestamp of the most recent IMU message received */
       aspn_xtensor::TypeTimestamp last_imu_time = aspn_xtensor::to_type_timestamp();
   
       /* Flag indicating if last_imu_time can be used to time-tag generated NavSolutions */
       bool use_imu_time;
   
       /* Copy of PVA covariance from sensor messages for use in solution covariance output */
       Matrix cov;
   
       /* Storage for user-provided constructor parameters */
       std::vector<bool> wait_for;
   
       /* Log/throw if desired, otherwise update solution time and status */
       AlignBase::AlignmentStatus post_meas_received(
           bool should_throw,
           const aspn_xtensor::TypeTimestamp& meas_time = aspn_xtensor::to_type_timestamp());
   
       /*
        * Figure out what data is valid and assign into alignment pva/covariance.
        *
        * @param pva Candidate PositionVelocityAttitude.
        * @param set_flags Whether or not to allow the function to change the wait_for flags based on
        * supplied_data.
        * @return bool indicating that all valid data was assigned, effectively only false when the
        * covariance matrix size does not match the number of valid data elements.
        */
       bool assign_from_pva(const aspn_xtensor::MeasurementPositionVelocityAttitude& pva,
                            bool set_flags = true);
   };
   }  // namespace inertial
   }  // namespace navtk