.. _program_listing_file_dynamics_imu_dynamics.h:

Program Listing for File imu_dynamics.h
=======================================

|exhale_lsh| :ref:`Return to documentation for file <file_dynamics_imu_dynamics.h>` (``dynamics/imu_dynamics.h``)

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

.. code-block:: cpp

   #pragma once
   
   #include "lupnt/core/definitions.h"
   #include "lupnt/devices/imu.h"
   #include "lupnt/dynamics/dynamics.h"
   
   namespace lupnt {
   
     enum class ImuModel;
   
     class ImuDynamics : public Dynamics {
     public:
       ImuDynamics();
   
       ImuDynamics(Config& config);
   
       void SetModel(ImuModel imu_model);
       ImuModel GetModel() const;
   
       void SetSeed(int seed) {
         seed_ = seed;
         rng_ = MakePtr<std::mt19937>(seed_);
       }
   
       using Dynamics::Propagate;
   
       State Propagate(const State& x0, Real t0, Real tf, const State* u = nullptr) override;
   
       StateType GetStateType() const override { return ImuState::TYPE; }
   
     protected:
       ImuModel imu_model_;
       int seed_ = 0;
       Ptr<std::mt19937> rng_ = nullptr;
     };
   
   }  // namespace lupnt