.. _program_listing_file_src_navtk_inertial_StaticAlignment.hpp:

Program Listing for File StaticAlignment.hpp
============================================

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

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

.. code-block:: cpp

   #pragma once
   
   #include <navtk/inertial/AlignBase.hpp>
   
   namespace navtk {
   namespace inertial {
   
   class StaticAlignment : public AlignBase {
   
   public:
       StaticAlignment(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}});
   
       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;
   
   protected:
       virtual void calc_alignment(const aspn_xtensor::TypeTimestamp& imu_time);
   
       std::pair<Vector3, Matrix3> pos_stats() const;
   
       std::pair<Vector3, Vector3> calc_avg() const;
   
       double calc_average_delta_time() const;
   
       double align_time;
   
   private:
       /* We've yet to get a good alignment, so keep trying to align using the latest message */
       void aligning(const aspn_xtensor::MeasurementImu& message);
   
       /* Check if enough IMU/GPS data has been buffered to do a static align */
       bool sufficient_data();
   
       /* Storage for tilt cov from sensor messages for use in solution cov output */
       Matrix3 tilt_cov;
   
       /* Storage for tilt cov from sensor messages for use in solution cov output */
       Matrix3 vel_cov;
   };
   
   }  // namespace inertial
   }  // namespace navtk