.. _program_listing_file_src_navtk_inertial_MovementDetectorImu.hpp:

Program Listing for File MovementDetectorImu.hpp
================================================

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

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

.. code-block:: cpp

   #pragma once
   
   #include <memory>
   #include <vector>
   
   #include <navtk/aspn.hpp>
   #include <navtk/inertial/MovementDetectorPlugin.hpp>
   #include <navtk/inertial/MovementStatus.hpp>
   #include <navtk/not_null.hpp>
   #include <navtk/tensors.hpp>
   
   namespace navtk {
   namespace inertial {
   
   class MovementDetectorImu : public MovementDetectorPlugin {
   public:
       MovementDetectorImu(const Size window = 10, const double calib_time = 30.0);
   
       MovementStatus process(not_null<std::shared_ptr<aspn_xtensor::AspnBase>> data) override;
   
       aspn_xtensor::TypeTimestamp get_time() override;
   
   private:
       /*
        * Empty all IMU data related buffers.
        */
       void clear_buffers();
   
       /* Number of measurements to consider collectively when detecting movement */
       Size window;
   
       /* Minimum number of seconds of stationary data assumed delivered at start */
       double calib_time;
   
       /* Storage for delta_theta extracted */
       std::vector<Vector3> dth_extract;
   
       /* Storage for time_validities extracted */
       std::vector<aspn_xtensor::TypeTimestamp> time_extract;
   
       /* Stationary period has passed and we can start detecting movement */
       bool ready_to_test = false;
   
       /* Norm of average dth from calibration period */
       double initial_dth_norm = 0.0;
   
       /* One-sigma uncertainty of dth norms from caibration period */
       double initial_dth_sig = 0.0;
   
       /* Time of last fully processed IMU measurement */
       aspn_xtensor::TypeTimestamp last_time = aspn_xtensor::TypeTimestamp((int64_t)0);
   };
   }  // namespace inertial
   }  // namespace navtk