.. _program_listing_file_api_include_pntos_plugins_initialization.h:

Program Listing for File initialization.h
=========================================

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

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

.. code-block:: cpp

   #pragma once
   
   #include <pntos/plugins/common.h>
   #include <pntos/stdbool.h>
   
   #ifdef __cplusplus
   extern "C" {
   #endif
   
   PNTOS_ASSUME_NONNULL_BEGIN
   
   typedef enum PntosInitializationType {
       PNTOS_INERTIAL_INITIALIZATION_STRATEGY,
       PNTOS_EWC_INITIALIZATION_STRATEGY
   } PntosInitializationType;
   
   typedef enum PntosInitializationStatus {
       PNTOS_WAITING,
       PNTOS_INITIALIZING_COARSE,
       PNTOS_INITIALIZING_FINE,
       PNTOS_INITIALIZED_GOOD,
       PNTOS_INITIALIZATION_FAILED
   } PntosInitializationStatus;
   
   typedef enum PntosInitializationMotionNeeded {
       PNTOS_NO_MOTION,
       PNTOS_MOTION_NEEDED,
       PNTOS_ANY_MOTION
   } PntosInitializationMotionNeeded;
   
   typedef struct PntosCommonInitializationStrategy {
       PntosManagedMemory* memory;
   
       PntosInitializationType type;
   
       PntosInitializationMotionNeeded (*request_motion_needed)(
           struct PntosCommonInitializationStrategy* self);
   
       PntosInitializationStatus (*request_current_status)(
           struct PntosCommonInitializationStrategy* self);
   
       void (*process_pntos_message)(struct PntosCommonInitializationStrategy* self,
                                     PntosMessage* message);
   } PntosCommonInitializationStrategy;
   
   typedef struct PntosInitialInertialSolution {
       PntosManagedMemory* memory;
   
       PntosMessage* PNTOS_NULLABLE solution;
   
       PntosStandardInertialErrors* PNTOS_NULLABLE inertial_errors;
   
       PntosMatrix* PNTOS_NULLABLE inertial_error_covariance;
   
       PntosInitializationStatus status;
   } PntosInitialInertialSolution;
   
   typedef struct PntosInertialInitializationStrategy {
       PntosCommonInitializationStrategy common;
   
       PntosInitialInertialSolution* (*request_solution)(
           struct PntosInertialInitializationStrategy* self);
   
   } PntosInertialInitializationStrategy;
   
   typedef struct PntosInitialEstimateWithCovariance {
       PntosManagedMemory* memory;
   
       AspnTypeTimestamp time;
   
       PntosEstimateWithCovariance* PNTOS_NULLABLE estimate_with_covariance;
   
       PntosInitializationStatus status;
   } PntosInitialEstimateWithCovariance;
   
   typedef struct PntosEwcInitializationStrategy {
       PntosCommonInitializationStrategy common;
   
       PntosInitialEstimateWithCovariance* PNTOS_NULLABLE (*request_solution)(
           struct PntosEwcInitializationStrategy* self);
   
   } PntosEwcInitializationStrategy;
   
   typedef struct PntosInitializationPlugin {
       PntosCommonPlugin common;
   
       bool (*is_initialization_type_supported)(struct PntosInitializationPlugin* self,
                                                PntosInitializationType type);
   
       PntosCommonInitializationStrategy* PNTOS_NULLABLE (*new_initialization_strategy)(
           struct PntosInitializationPlugin* self,
           PntosInitializationType type,
           char* PNTOS_NULLABLE config_group);
   } PntosInitializationPlugin;
   
   #ifdef __cplusplus
   }
   #endif
   
   PNTOS_ASSUME_NONNULL_END