Program Listing for File imu_covariance_factory.h

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// Copyright 2025 Analog Devices, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef ADI_IMU__IMU_COVARIANCE_FACTORY_H_
#define ADI_IMU__IMU_COVARIANCE_FACTORY_H_

#include <memory>
#include <rclcpp/rclcpp.hpp>
#include <string>

#include "adi_imu/imu_covariance_interface.h"

namespace adi_imu
{
enum class CovarianceAlgorithm
{
  STATIC,          // Fixed values from parameters
  WELFORD_ONLINE,  // Calibration-based (Welford's algorithm)
  SLIDING_WINDOW,  // Adaptive sliding window
  EWMA,            // Exponentially-Weighted Moving Average (EWMA)
  KALMAN,          // Kalman filter-based variance estimation
};

class ImuCovarianceFactory
{
public:
  static std::unique_ptr<ImuCovarianceInterface> createFromParameters(
    const std::shared_ptr<rclcpp::Node> & node);

  static std::unique_ptr<ImuCovarianceInterface> create(
    CovarianceAlgorithm algorithm, const std::shared_ptr<rclcpp::Node> & node);

  static CovarianceAlgorithm parseAlgorithm(const std::string & algorithm_str);
};
}  // namespace adi_imu

#endif  // ADI_IMU__IMU_COVARIANCE_FACTORY_H_