.. _program_listing_file_src_navtk_inertial_MovementDetector.hpp:

Program Listing for File MovementDetector.hpp
=============================================

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

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

.. code-block:: cpp

   #pragma once
   
   #include <memory>
   #include <string>
   #include <unordered_map>
   
   #include <navtk/inertial/MovementDetectorPlugin.hpp>
   #include <navtk/inertial/MovementStatus.hpp>
   #include <navtk/not_null.hpp>
   
   namespace navtk {
   namespace inertial {
   
   struct MovementDetectorPluginStat {
       double weight = 0.0;
   
       double stale_time = 0.0;
   };
   
   class MovementDetector {
   
   public:
       void add_plugin(const std::string& id,
                       not_null<std::shared_ptr<MovementDetectorPlugin>> plugin,
                       const double weight     = 1.0,
                       const double stale_time = 1.0);
   
       void remove_plugin(const std::string& id);
   
       // Formatting breaks in-docs link to other function version
       // clang-format off
       // clang-format on
       void process(not_null<std::shared_ptr<aspn_xtensor::AspnBase>> data);
   
       void process(const std::vector<std::string>& ids,
                    not_null<std::shared_ptr<aspn_xtensor::AspnBase>> data);
   
       MovementStatus get_status();
   
       std::unordered_map<std::string, MovementDetectorPluginStat> plugin_info() const;
   
   private:
       // Container for storing plugin and assorted info
       struct FullPluginStat {
           MovementDetectorPluginStat stats;
           std::shared_ptr<MovementDetectorPlugin> plugin;
       };
   
       // Storage for plugins and related data.
       std::unordered_map<std::string, FullPluginStat> mp;
   
       // Extracted keys from plugin map to support no-id process() function
       std::vector<std::string> keys;
   };
   
   }  // namespace inertial
   }  // namespace navtk