.. _program_listing_file_api_include_pntos_plugins_inertial.h:

Program Listing for File inertial.h
===================================

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

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

.. code-block:: cpp

   #pragma once
   
   #include <pntos/aspn.h>
   #include <pntos/plugins/common.h>
   #include <pntos/stdbool.h>
   
   #ifdef __cplusplus
   extern "C" {
   #endif
   
   PNTOS_ASSUME_NONNULL_BEGIN
   
   typedef enum PntosInertialFrame {
   
       PNTOS_INERTIAL_FRAME_NED
   
   } PntosInertialFrame;
   
   typedef struct PntosInertialForcesRates {
   
       PntosManagedMemory* memory;
   
       AspnMeasurementImu* forces_and_rates;
   
       PntosInertialFrame frame;
   
   } PntosInertialForcesRates;
   
   typedef struct PntosStandardInertialErrors {
   
       PntosManagedMemory* memory;
   
       double accel_biases[3];
   
       double gyro_biases[3];
   
       double accel_scale_factors[3];
   
       double gyro_scale_factors[3];
   
       /* TODO: more terms? Possibly sensor misalignment angles?*/
   } PntosStandardInertialErrors;
   
   typedef enum PntosInertialSolutionRangeType {
       PNTOS_INERTIAL_BEST_KNOWN_SOLUTION,
       PNTOS_INERTIAL_NO_UPDATES_WITHIN_RANGE
   } PntosInertialSolutionRangeType;
   
   typedef enum PntosInertialType {
   
       PNTOS_STANDARD_INERTIAL_MECHANIZATION,
   
       PNTOS_EXTERNAL_INERTIAL,
   
       PNTOS_NON_ORTHOGONAL_INERTIAL_MECHANIZATION
   
   } PntosInertialType;
   
   typedef struct PntosCommonInertial {
   
       PntosManagedMemory* memory;
   
       PntosInertialType inertial_type;
   
       PntosMessageType (*request_solution_message_type)(struct PntosCommonInertial* self);
   
       PntosMessage* (*request_current_solution)(struct PntosCommonInertial* self);
   
       PntosMessage* PNTOS_NULLABLE (*request_solution)(struct PntosCommonInertial* self,
                                                        AspnTypeTimestamp time);
   
       PntosMessageArray* PNTOS_NULLABLE (*request_solutions)(struct PntosCommonInertial* self,
                                                              AspnTypeTimestamp* times,
                                                              size_t num_times,
                                                              PntosInertialSolutionRangeType type);
   
       bool (*is_time_in_range)(struct PntosCommonInertial* self, AspnTypeTimestamp time);
   
       AspnTypeTimestamp (*request_earliest_time)(struct PntosCommonInertial* self);
   
       AspnTypeTimestamp (*request_latest_time)(struct PntosCommonInertial* self);
   
       PntosMessageTypeArray* (*request_process_pntos_message_types)(struct PntosCommonInertial* self);
   
       void (*process_pntos_message)(struct PntosCommonInertial* self, PntosMessage* message);
   
       PntosInertialForcesRates* PNTOS_NULLABLE (*request_forces_and_rates)(
           struct PntosCommonInertial* self, AspnTypeTimestamp time);
   
       PntosInertialForcesRates* PNTOS_NULLABLE (*request_average_forces_and_rates)(
           struct PntosCommonInertial* self, AspnTypeTimestamp time1, AspnTypeTimestamp time2);
   
   } PntosCommonInertial;
   
   typedef PntosCommonInertial PntosExternalInertial;
   
   typedef struct PntosStandardInertialMechanization {
   
       PntosCommonInertial common;
   
       PntosMessageTypeArray* PNTOS_NULLABLE (*request_reset_message_types)(
           struct PntosStandardInertialMechanization* self);
   
       void (*reset_solution)(struct PntosStandardInertialMechanization* self, PntosMessage* message);
   
       void (*correct_sensor_errors)(struct PntosStandardInertialMechanization* self,
                                     AspnTypeTimestamp time,
                                     PntosStandardInertialErrors* errors);
   
       PntosStandardInertialErrors* PNTOS_NULLABLE (*request_sensor_errors)(
           struct PntosStandardInertialMechanization* self, AspnTypeTimestamp time);
   
   } PntosStandardInertialMechanization;
   
   typedef struct PntosInertialPlugin {
   
       PntosCommonPlugin common;
   
       bool (*is_inertial_type_supported)(struct PntosInertialPlugin* self, PntosInertialType type);
   
       PntosCommonInertial* PNTOS_NULLABLE (*new_inertial)(struct PntosInertialPlugin* self,
                                                           PntosInertialType type,
                                                           PntosMessage* solution,
                                                           char* PNTOS_NULLABLE config_group);
   
   } PntosInertialPlugin;
   
   #ifdef __cplusplus
   }
   #endif
   
   PNTOS_ASSUME_NONNULL_END