Program Listing for File inertial.h

↰ Return to documentation for file (api/include/pntos/plugins/inertial.h)

#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