.. _program_listing_file_api_include_pntos_plugins_fusion.h:

Program Listing for File fusion.h
=================================

|exhale_lsh| :ref:`Return to documentation for file <file_api_include_pntos_plugins_fusion.h>` (``api/include/pntos/plugins/fusion.h``)

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

.. code-block:: cpp

   #pragma once
   
   #include <pntos/plugins/common.h>
   #include <pntos/plugins/fusion_strategy.h>
   
   #ifdef __cplusplus
   extern "C" {
   #endif
   
   PNTOS_ASSUME_NONNULL_BEGIN
   
   typedef struct PntosCommonFusionEngine {
       PntosManagedMemory* memory;
   
       PntosFusionType engine_type;
   
   } PntosCommonFusionEngine;
   
   typedef struct PntosCrossCovariances {
       PntosManagedMemory* memory;
   
       size_t num_covariances;
   
       char** block_labels;
   
       PntosMatrix** cross_covariances;
   } PntosCrossCovariances;
   
   typedef struct PntosStandardFusionEngine {
       PntosCommonFusionEngine common;
   
       void (*set_time)(struct PntosStandardFusionEngine* self, AspnTypeTimestamp time);
   
       AspnTypeTimestamp (*get_time)(struct PntosStandardFusionEngine* self);
   
       void (*set_strategy)(struct PntosStandardFusionEngine* self,
                            PntosStandardFusionStrategy* strategy);
   
       PntosStandardFusionStrategy* PNTOS_NULLABLE (*get_strategy)(
           struct PntosStandardFusionEngine* self);
   
       size_t (*get_num_states)(struct PntosStandardFusionEngine* self);
   
       PntosStringArray* PNTOS_NULLABLE (*get_state_block_labels)(
           struct PntosStandardFusionEngine* self);
   
       bool (*has_block)(struct PntosStandardFusionEngine* self, char* block_label);
   
       void (*add_state_block)(struct PntosStandardFusionEngine* self,
                               PntosStandardStateBlock* block,
                               PntosEstimateWithCovariance* initial_estimate_covariance,
                               PntosCrossCovariances* PNTOS_NULLABLE cross_covariances);
   
       PntosMatrix* PNTOS_NULLABLE (*get_state_block_estimate)(struct PntosStandardFusionEngine* self,
                                                               char* block_label);
   
       PntosMatrix* PNTOS_NULLABLE (*get_state_block_covariance)(
           struct PntosStandardFusionEngine* self, char* block_label);
   
       PntosMatrix* PNTOS_NULLABLE (*get_state_block_cross_covariance)(
           struct PntosStandardFusionEngine* self, char* block_label1, char* block_label2);
   
       void (*set_state_block_estimate)(struct PntosStandardFusionEngine* self,
                                        char* block_label,
                                        PntosMatrix* estimate);
   
       void (*set_state_block_covariance)(struct PntosStandardFusionEngine* self,
                                          char* block_label,
                                          PntosMatrix* covariance);
   
       void (*set_state_block_cross_covariance)(struct PntosStandardFusionEngine* self,
                                                char* block_label1,
                                                char* block_label2,
                                                PntosMatrix* covariance);
   
       void (*remove_state_block)(struct PntosStandardFusionEngine* self, char* block_label);
   
       PntosStringArray* PNTOS_NULLABLE (*get_virtual_state_block_target_labels)(
           struct PntosStandardFusionEngine* self);
   
       bool (*has_virtual_state_block)(struct PntosStandardFusionEngine* self, char* vsb_target_label);
   
       void (*add_virtual_state_block)(struct PntosStandardFusionEngine* self,
                                       PntosVirtualStateBlock* virtual_state_block);
   
       void (*remove_virtual_state_block)(struct PntosStandardFusionEngine* self,
                                          char* vsb_target_label);
   
       PntosStringArray* PNTOS_NULLABLE (*get_measurement_processor_labels)(
           struct PntosStandardFusionEngine* self);
   
       bool (*has_processor)(struct PntosStandardFusionEngine* self, char* processor_label);
   
       void (*add_measurement_processor)(struct PntosStandardFusionEngine* self,
                                         PntosStandardMeasurementProcessor* processor);
   
       void (*remove_measurement_processor)(struct PntosStandardFusionEngine* self,
                                            char* processor_label);
   
       void (*propagate)(struct PntosStandardFusionEngine* self, AspnTypeTimestamp time);
   
       void (*update)(struct PntosStandardFusionEngine* self,
                      char* processor_label,
                      PntosMessage* message);
   
       PntosEstimateWithCovariance* PNTOS_NULLABLE (*peek_ahead)(
           struct PntosStandardFusionEngine* self,
           AspnTypeTimestamp time,
           char** block_labels,
           size_t num_block_labels);
   
       PntosEstimateWithCovariance* PNTOS_NULLABLE (*generate_x_and_p)(
           struct PntosStandardFusionEngine* self, char** block_labels, size_t num_block_labels);
   
       void (*give_state_block_aux_data)(struct PntosStandardFusionEngine* self,
                                         char* block_label,
                                         PntosMessageArray* aux);
   
       void (*give_measurement_processor_aux_data)(struct PntosStandardFusionEngine* self,
                                                   char* processor_label,
                                                   PntosMessageArray* aux);
   
       void (*give_virtual_state_block_aux_data)(struct PntosStandardFusionEngine* self,
                                                 char* target_label,
                                                 PntosMessageArray* aux);
   
       struct PntosStandardFusionEngine* (*clone)(struct PntosStandardFusionEngine* self);
   } PntosStandardFusionEngine;
   
   typedef struct PntosFusionPlugin {
       PntosCommonPlugin common;
   
       bool (*is_fusion_type_supported)(struct PntosFusionPlugin* self, PntosFusionType type);
   
       PntosCommonFusionEngine* PNTOS_NULLABLE (*new_fusion_engine)(struct PntosFusionPlugin* self,
                                                                    PntosFusionType type);
   } PntosFusionPlugin;
   
   PNTOS_ASSUME_NONNULL_END
   
   #ifdef __cplusplus
   }
   #endif