#ifndef ORGOMGC4IDOMAIN_MODELNAVIGATION_DOMAINATTITUDEDEFVAR
#define ORGOMGC4IDOMAIN_MODELNAVIGATION_DOMAINATTITUDEDEFVAR
#include "Common_Types.idl"
#include "Coordinates_and_Positions.idl"
#include "org__omg__c4i__Domain_Model__Navigation_Domain.idl"
#include "org__omg__c4i__Domain_Model__Navigation_Domain__Reporting.idl"

module org
{

  module omg
  {

    module c4i
    {

      module Domain_Model
      {

        module Navigation_Domain
        {

          // This package contains classes to model the attitude of the platform. That is the
          // orientation and offset of the platform relative to its reported position. This
          // package provides a data model for services that relate to micro-scale precision,
          // supporting precise location and orientation of an individual component of the
          // platform. 
          module Attitude
          {

            // This class encapsulates the error estimates associated with the platform's
            // rotational attitude values. Accuracies are reported as one standard deviation.
            struct attitude_rotation_accuracy_type
            {
              // The provenance or method by which the accuracy values have been derived
              org::omg::c4i::Domain_Model::Navigation_Domain::accuracy_derivation_type derivation;
              // The accuracy (represented as one standard deviation) of the time value.
              org::omg::c4i::Domain_Model::Common_Types::Coordinates_and_Positions::duration_type time_accuracy;
              // The accuracy of the pitch value to one standard deviation,
              org::omg::c4i::Domain_Model::Common_Types::Coordinates_and_Positions::elevation_coordinate_type pitch_accuracy;
              // The accuracy of the roll value to one standard deviation,
              org::omg::c4i::Domain_Model::Common_Types::Coordinates_and_Positions::elevation_coordinate_type roll_accuracy;
              // The accuracy of the yaw value to one standard deviation,
              org::omg::c4i::Domain_Model::Common_Types::Coordinates_and_Positions::azimuth_coordinate_type yaw_accuracy;
            };

            // The kind of measurement relating to the statistical process applied to the
            // quantities in question over time.
            enum measurement_kind_type
            {
              // The maximum of the absolute value of the raw measurements over a complete cycle
              // (a complete cycle is defined as the interval between local maxima).
              ABSOLUTE_PEAK,
              // The raw measurement at the stated time
              INSTANTANEOUS,
              // The arithmetic mean (average) of the raw measurements over a complete cycle (a
              // complete cycle is defined as the interval between local maxima).
              MEAN,
              // The root mean square average of the raw measurements over a complete cycle (a
              // complete cycle is defined as the interval between local maxima).
              ROOT_MEAN_SQUARE,
              // The system's best estimate for the current value of the quantities based on
              // recent raw measurements.
              SMOOTHED
            };

            // struct holding keys for class .
            struct attitude_rotation_key_type
            {
              // Whether the information has been simulated - e.g. for operator training.
              boolean simulated;
              // The kind of measurement being reported.
              measurement_kind_type measurement_kind;
            };

            // Enumeration of specialisations options for keys to classes based on generalisation offset_report_type.
            enum offset_report_key_kind_type
            {
              // The literal for referencing the attitude_rotation_type specialisation of offset_report_type.
              ATTITUDE_ROTATION,
              // The literal for referencing the attitude_rotation_rate_type specialisation of offset_report_type.
              ATTITUDE_ROTATION_RATE,
              // The literal for referencing the position_offset_type specialisation of offset_report_type.
              POSITION_OFFSET,
              // The literal for referencing the velocity_offset_type specialisation of offset_report_type.
              VELOCITY_OFFSET
            };

            // This class encapsulates the instantaneous rotation of the platform from its
            // nominal, at-rest orientation
            // Non-normative: typically due to the variable motion of the environment - sea,
            // air, etc. - through which it is travelling.
            struct attitude_rotation_type
            {
              // The generic type of navigation system used.
              org::omg::c4i::Domain_Model::Navigation_Domain::navigation_derivation_kind_type system_kind;
              // An optional set of contributing sensor kinds that have been used to derive the
              // report. This set is defined when the system_kind is COMPOSITE.
              org::omg::c4i::Domain_Model::Navigation_Domain::Reporting::navigation_report_composite_contributors_type composite_contributors;
              // The specific system employed - e.g. GPS, LORAN-B
              org::omg::c4i::Domain_Model::Navigation_Domain::Reporting::navigation_report_specific_system_type specific_system;
              // Whether the information has been simulated - e.g. for operator training.
#ifdef DDS_XTYPES
              @key boolean simulated;
#else
              boolean simulated;
#endif
              // The time for which the report values are valid.
              org::omg::c4i::Domain_Model::Common_Types::time_type time_of_information;
              // The kind of measurement being reported.
#ifdef DDS_XTYPES
              @key measurement_kind_type measurement_kind;
#else
              measurement_kind_type measurement_kind;
#endif
              // The pitch of the platform, relative to its center of rotation in a vertical
              // plane. It is the clockwise angle of rotation around the lateral axis (towards
              // starboard/right) through the platform reference point.
              // For sea systems, the angle from horizontal to the bow;
              // for air systems, the angle from horizontal to the nose;
              // for land systems, the angle from horizontal to the front.
              org::omg::c4i::Domain_Model::Common_Types::Coordinates_and_Positions::elevation_coordinate_type pitch;
              // The roll of the platform, relative to its center of rotation in a vertical plane.
              // It is the angle of rotation about the longitudinal axis through the platform
              // reference point (front-to-back).
              // The roll angle is defined as that of the at-rest horizontal through the
              // platform's reference on the starboard side for sea and air systems and on the
              // right (forward facing) for land systems.
              org::omg::c4i::Domain_Model::Common_Types::Coordinates_and_Positions::elevation_coordinate_type roll;
              // The yaw of the platform, relative to its center of rotation in a horizontal
              // plane. It is the angle of rotation about the vertical axis through the platform
              // reference point (top-to-bottom) relative to the platform’s demanded heading.
              // For sea systems, the angle to the bow;
              // for air systems, the angle to the nose;
              // for land systems, the angle to the front.
              org::omg::c4i::Domain_Model::Common_Types::Coordinates_and_Positions::azimuth_coordinate_type yaw;
              // The accuracy of each rotation attribute
              attitude_rotation_accuracy_type accuracy;
            };
#ifndef DDS_XTYPES
#pragma keylist attitude_rotation_type simulated measurement_kind
#endif

          };
        };
      };
    };
  };
};
#endif