BaroSimulator.hpp

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// This file is part of INSTINCT, the INS Toolkit for Integrated
// Navigation Concepts and Training by the Institute of Navigation of
// the University of Stuttgart, Germany.
//
// This Source Code Form is subject to the terms of the Mozilla Public
// License, v. 2.0. If a copy of the MPL was not distributed with this
// file, You can obtain one at https://mozilla.org/MPL/2.0/.

 
#pragma once
 
#include <cstdint>
#include "internal/Node/Node.hpp"
#include "util/Random/RandomNumberGenerator.hpp"
#include "Navigation/Constants.hpp"
#include <Eigen/src/Core/Matrix.h>
 
namespace NAV
{
class BaroSimulator : public Node
{
  public:
    BaroSimulator();
    ~BaroSimulator() override;
    BaroSimulator(const BaroSimulator&) = delete;
    BaroSimulator(BaroSimulator&&) = delete;
    BaroSimulator& operator=(const BaroSimulator&) = delete;
    BaroSimulator& operator=(BaroSimulator&&) = delete;

    [[nodiscard]] static std::string typeStatic();

    [[nodiscard]] std::string type() const override;

    [[nodiscard]] static std::string category();

    void guiConfig() override;

    [[nodiscard]] json save() const override;

    void restore(const json& j) override;
 
  private:
    constexpr static size_t OUTPUT_PORT_INDEX_BAROPRESSURE = 0; 
    constexpr static size_t INPUT_PORT_INDEX_POS = 0;           

    bool initialize() override;

    void deinitialize() override;

    void receiveObs(InputPin::NodeDataQueue& queue, size_t pinIdx);

    double _temp0 = 288.15;
    double _pressure0 = 1013.25;
    double _lapserate = 0.00976;
    double _geoidhgt = 0.0;
    double _gravity = InsConst::G_NORM;
    double _pressurenoise = 0.0;

    RandomNumberGenerator _pressureRng;

    double _exponent = InsConst::G_NORM * InsConst::dMtr / InsConst::Rg / _lapserate;

    Eigen::Vector3d _initPos{ 48.780509, 9.171712, 300.0 };

    enum class GravityInput : uint8_t
    {
        Manual,   
        Position, 
        COUNT,    
    };

    GravityInput _gravityInput = GravityInput::Manual;

    friend constexpr const char* to_string(GravityInput value);
};

constexpr const char* to_string(NAV::BaroSimulator::GravityInput value)
{
    switch (value)
    {
    case NAV::BaroSimulator::GravityInput::Manual:
        return "Manual";
    case NAV::BaroSimulator::GravityInput::Position:
        return "Position";
    case NAV::BaroSimulator::GravityInput::COUNT:
        return "";
    }
    return "";
}
 
} // namespace NAV