.. _program_listing_file_src_navtk_inertial_StaticWahbaAlignment.hpp:

Program Listing for File StaticWahbaAlignment.hpp
=================================================

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

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

.. code-block:: cpp

   #pragma once
   
   #include <navtk/inertial/StaticAlignment.hpp>
   
   namespace navtk {
   namespace inertial {
   
   class StaticWahbaAlignment : public StaticAlignment {
   
   public:
       StaticWahbaAlignment(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;
   
   protected:
       /* Do the actual alignment algorithm once sufficient data is available. */
       void calc_alignment(const aspn_xtensor::TypeTimestamp& imu_time) override;
   
   private:
       /* Storage for tilt cov from sensor messages for use in solution cov output */
       Matrix3 tilt_cov;
   };
   
   }  // namespace inertial
   }  // namespace navtk