Struct PntosInitializationPlugin

Defined in File initialization.h

Struct Documentation

struct PntosInitializationPlugin

An implementation of an initialization plugin. This plugin generates PntosCommonInitializationStrategy instances which may be used to generate an initial solution from additional external sensor data, such as IMU data.

UNSTABLE: This feature is unstable and is not yet considered part of the stable pntOS API. Usage of this feature is highly discouraged in non-experimental code, and its definition may change at any time.

Public Members

PntosCommonPlugin common

bool (*is_initialization_type_supported)(struct PntosInitializationPlugin *self, PntosInitializationType type): Return true if the plugin supports a given type of mechanization, false otherwise.

PntosCommonInitializationStrategy *(*new_initialization_strategy)(struct PntosInitializationPlugin *self, PntosInitializationType type, char *config_group)

Create an instance of PntosCommonInitializationStrategy.

Param type: Specifies the type of initializer that the returned value will support. For example, if the user passes in PNTOS_INERTIAL_INITIALIZATION_STRATEGY, then the returned value will be castable to PntosInitialInertialSolution. If type is unsupported by the plugin, then NULL will be returned. Please use is_initialization_type_supported to check if the type is supported by the plugin.
Param config_group: An optional parameter which can be used to specify which group in the config should be used to set up the new initialization strategy. This allows for multiple initialization strategy instances to exist with unique settings.
Return: The new initialization strategy instance. Returns NULL if type is unsupported by this plugin (this can be checked using is_initialization_type_supported) or if config_group is invalid.