.. _program_listing_file_devices_imu.h:

Program Listing for File imu.h
==============================

|exhale_lsh| :ref:`Return to documentation for file <file_devices_imu.h>` (``devices/imu.h``)

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

.. code-block:: cpp

   #pragma once
   
   #include "lupnt/devices/device.h"
   #include "lupnt/dynamics/imu_dynamics.h"
   #include "lupnt/measurements/measurement.h"
   #include "lupnt/states/state.h"
   
   namespace lupnt {
   
     class ImuDynamics;
   
     // ImuModel
     enum class ImuModel { LN200S, UNDEFINED };
   
     // ImuParameters
     struct ImuParameters {
       Real sigma_a;       // [m/s^2 1/sqrt(Hz))] Accelerometer white noise
       Real sigma_a_bias;  // [m/s^2 sqrt(Hz))] Accelerometer bias random walk
       Real sigma_w;       // [rad/s 1/sqrt(Hz))] Gyroscope white noise
       Real sigma_w_bias;  // [rad/s sqrt(Hz))] Gyroscope bias random walk
     };
   
     class Imu : public Device {
     protected:
       ImuModel model_;
       Real time_ = 0.0;  // [s] Time
       ImuState state_;
   
       std::vector<ImuMeasurement> data_;
       Ptr<ImuDynamics> dynamics_;
   
       Vec3 position_ = Vec3::Zero();         // [m] Position of the IMU in the body frame
       Mat3 orientation_ = Mat3::Identity();  // Orientation of the IMU in the body frame
   
     public:
       Imu();
       Imu(Config& config);
   
       void Step(Real t) override;
       void Setup() override;
   
       ImuMeasurement GetMeasurement(Real t);
   
       static ImuParameters GetParameters(ImuModel imu_model);
   
       std::vector<ImuMeasurement> GetData() const { return data_; }
       void EmptyData() { data_.clear(); }
   
       void Log(Real time) override;
     };
   
   }  // namespace lupnt