EgomotionState.h

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#ifndef DW_EGOMOTION_PRODUCER_STATE_H_
#define DW_EGOMOTION_PRODUCER_STATE_H_

#include "Egomotion.h"

#ifdef __cplusplus
extern "C" {
#endif

typedef struct dwEgomotionStateObject* dwEgomotionStateHandle_t;
typedef struct dwEgomotionStateObject const* dwConstEgomotionStateHandle_t;

typedef struct dwEgomotionStateParams
{
    dwMotionModel type;

    size_t historySize;
} dwEgomotionStateParams;

DW_API_PUBLIC
dwStatus dwEgomotion_createEmptyState(dwEgomotionStateHandle_t* state, dwEgomotionHandle_t obj);

DW_API_PUBLIC
dwStatus dwEgomotion_getState(dwEgomotionStateHandle_t state, dwEgomotionConstHandle_t obj);

DW_API_PUBLIC
dwStatus dwEgomotion_getHistoryCapacity(size_t* capacity, dwEgomotionConstHandle_t obj);

// --------------------------------------------
//  State
// --------------------------------------------

DW_API_PUBLIC
dwStatus dwEgomotionState_computeRelativeTransformation(dwTransformation3f* poseAtoB,
                                                        dwEgomotionRelativeUncertainty* uncertainty,
                                                        dwTime_t timestamp_a, dwTime_t timestamp_b,
                                                        dwConstEgomotionStateHandle_t obj);

DW_API_PUBLIC
dwStatus dwEgomotionState_getEstimationTimestamp(dwTime_t* timestamp, dwConstEgomotionStateHandle_t obj);

DW_API_PUBLIC
dwStatus dwEgomotionState_getEstimation(dwEgomotionResult* result, dwConstEgomotionStateHandle_t obj);

DW_API_PUBLIC
dwStatus dwEgomotionState_getUncertainty(dwEgomotionUncertainty* result, dwConstEgomotionStateHandle_t obj);

DW_API_PUBLIC
dwStatus dwEgomotionState_getGyroscopeBias(dwVector3f* gyroBias, dwConstEgomotionStateHandle_t obj);

DW_API_PUBLIC
dwStatus dwEgomotionState_getHistorySize(size_t* num, dwConstEgomotionStateHandle_t obj);

DW_API_PUBLIC
dwStatus dwEgomotionState_getHistoryCapacity(size_t* capacity, dwConstEgomotionStateHandle_t obj);

DW_API_PUBLIC
dwStatus dwEgomotionState_getHistoryElement(dwEgomotionResult* pose, dwEgomotionUncertainty* uncertainty,
                                            size_t index, dwConstEgomotionStateHandle_t obj);

DW_API_PUBLIC
dwStatus dwEgomotionState_getMotionModel(dwMotionModel* model, dwConstEgomotionStateHandle_t obj);

DW_API_PUBLIC
dwStatus dwEgomotionState_createEmpty(dwEgomotionStateHandle_t* state, dwEgomotionStateParams params, dwContextHandle_t ctx);

DW_API_PUBLIC
dwStatus dwEgomotionState_release(dwEgomotionStateHandle_t state);

DW_API_PUBLIC
dwStatus dwEgomotionState_getMaxNumBytes(size_t* bufferSize, dwConstEgomotionStateHandle_t state);

DW_API_PUBLIC
dwStatus dwEgomotionState_serialize(size_t* numBytes, uint8_t* buffer, size_t bufferSize, dwConstEgomotionStateHandle_t state);

DW_API_PUBLIC
dwStatus dwEgomotionState_deserialize(const uint8_t* buffer, size_t bufferSize, dwEgomotionStateHandle_t state);

DW_API_PUBLIC
dwStatus dwEgomotionState_copy(dwEgomotionStateHandle_t state, dwConstEgomotionStateHandle_t source);

#ifdef __cplusplus
}
#endif

#endif // DW_EGOMOTION_PRODUCER_STATE_H_