InertialInitializer.h

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/*
 * OpenVINS: An Open Platform for Visual-Inertial Research
 * Copyright (C) 2018-2023 Patrick Geneva
 * Copyright (C) 2018-2023 Guoquan Huang
 * Copyright (C) 2018-2023 OpenVINS Contributors
 * Copyright (C) 2018-2019 Kevin Eckenhoff
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */

#ifndef OV_INIT_INERTIALINITIALIZER_H
#define OV_INIT_INERTIALINITIALIZER_H

#include "init/InertialInitializerOptions.h"

namespace ov_core {
class FeatureDatabase;
struct ImuData;
} // namespace ov_core
namespace ov_type {
class Type;
class IMU;
} // namespace ov_type

namespace ov_init {

class StaticInitializer;
class DynamicInitializer;

class InertialInitializer {

public:
  explicit InertialInitializer(InertialInitializerOptions &params_, std::shared_ptr<ov_core::FeatureDatabase> db);

  void feed_imu(const ov_core::ImuData &message, double oldest_time = -1);

  bool initialize(double &timestamp, Eigen::MatrixXd &covariance, std::vector<std::shared_ptr<ov_type::Type>> &order,
                  std::shared_ptr<ov_type::IMU> t_imu, bool wait_for_jerk = true);

protected:
  InertialInitializerOptions params;

  std::shared_ptr<ov_core::FeatureDatabase> _db;

  std::shared_ptr<std::vector<ov_core::ImuData>> imu_data;

  std::shared_ptr<StaticInitializer> init_static;

  std::shared_ptr<DynamicInitializer> init_dynamic;
};

} // namespace ov_init

#endif // OV_INIT_INERTIALINITIALIZER_H