Program Listing for File imu_covariance_interface.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_INTERFACE_H_
#define ADI_IMU__IMU_COVARIANCE_INTERFACE_H_

#include <array>
#include <geometry_msgs/msg/vector3.hpp>

namespace adi_imu
{
using CovarianceMatrix = std::array<double, 9>;

using Vec3 = geometry_msgs::msg::Vector3;

class ImuCovarianceInterface
{
public:
  ImuCovarianceInterface() = default;
  virtual ~ImuCovarianceInterface() = default;

  // Prevent copying
  ImuCovarianceInterface(const ImuCovarianceInterface &) = delete;
  ImuCovarianceInterface & operator=(const ImuCovarianceInterface &) = delete;

  virtual void addSample(const Vec3 & accel, const Vec3 & gyro) = 0;

  virtual bool isReady() const = 0;

  virtual CovarianceMatrix getAccelCovariance() const = 0;

  virtual CovarianceMatrix getGyroCovariance() const = 0;

  virtual void reset() = 0;

  virtual double getCalibrationProgress() const = 0;
};

}  // namespace adi_imu

#endif  // ADI_IMU__IMU_COVARIANCE_INTERFACE_H_