.. _program_listing_file_src_navtk_inertial_MovementDetectorPos.hpp:

Program Listing for File MovementDetectorPos.hpp
================================================

|exhale_lsh| :ref:`Return to documentation for file <file_src_navtk_inertial_MovementDetectorPos.hpp>` (``src/navtk/inertial/MovementDetectorPos.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>
   
   namespace navtk {
   namespace inertial {
   
   class MovementDetectorPos : public MovementDetectorPlugin {
   public:
       MovementDetectorPos(const double speed_cutoff = 0.2, const double zero_corr_distance = 100.0);
   
       MovementStatus process(not_null<std::shared_ptr<aspn_xtensor::AspnBase>> data) override;
   
       aspn_xtensor::TypeTimestamp get_time() override;
   
   private:
       /* At least one position has been received */
       bool ready_to_test = false;
   
       /* Last position received */
       std::shared_ptr<aspn_xtensor::MeasurementPosition> last = nullptr;
   
       /* Stores ctor params */
       double speed_cutoff       = 0.0;
       double zero_corr_distance = 100.0;
   
       /*
        * Calculate the 1 sigma NED uncertainty between pos and whatever data is stored in last.
        *
        * @param pos Most recent position measurement
        * @param est_spd Norm of NED delta position between pos and last, divided by dt (m/s)
        * @param dt Delta time between pos and last, sec.
        */
       Vector calc_sig(not_null<std::shared_ptr<aspn_xtensor::MeasurementPosition>> pos,
                       double est_spd,
                       double dt);
   };
   }  // namespace inertial
   }  // namespace navtk