.. _program_listing_file_src_navtk_inertial_ManualHeadingAlignment.hpp:

Program Listing for File ManualHeadingAlignment.hpp
===================================================

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

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

.. code-block:: cpp

   #pragma once
   
   #include <memory>
   
   #include <navtk/filtering/containers/NavSolution.hpp>
   #include <navtk/inertial/StaticAlignment.hpp>
   #include <navtk/tensors.hpp>
   
   namespace navtk {
   namespace inertial {
   
   class ManualHeadingAlignment : public StaticAlignment {
   public:
       ManualHeadingAlignment(const double heading,
                              const double heading_sigma       = 0.017453292519943295,
                              const filtering::ImuModel& model = filtering::stim300_model(),
                              const double align_time          = 120.0,
                              const Matrix3& vel_cov           = Matrix3{
                                            {1e-4, 0, 0}, {0, 1e-4, 0}, {0, 0, 1e-4}});
   
       std::pair<bool, Matrix> get_computed_covariance(
           const CovarianceFormat format = CovarianceFormat::PINSON15NEDBLOCK) const override;
   
       std::pair<bool, ImuErrors> get_imu_errors() const override;
   
       AlignmentStatus process(std::shared_ptr<aspn_xtensor::AspnBase> message) override;
   
   private:
       /* Storage for user-provided heading */
       double heading;
   
       /* Storage for user-provided heading sigma */
       double heading_sigma;
   
       /* Sets `computed_alignment` and `alignment_status` if requirements met */
       void calc_align();
   };
   }  // namespace inertial
   }  // namespace navtk