CommonLog.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 <mutex>
#include <vector>
 
#include "util/Eigen.hpp"
#include "Navigation/Time/InsTime.hpp"
 
namespace NAV
{
class CommonLog
{
  public:
    virtual ~CommonLog();
    CommonLog(const CommonLog&) = delete;
    CommonLog(CommonLog&&) = delete;
    CommonLog& operator=(const CommonLog&) = delete;
    CommonLog& operator=(CommonLog&&) = delete;
 
    void initialize() const;
 
    static double calcTimeIntoRun(const InsTime& insTime);
 
    struct LocalPosition
    {
        double northSouth = 0.0; 
        double eastWest = 0.0;   
    };
 
    static LocalPosition calcLocalPosition(const Eigen::Vector3d& lla_position);
 
  protected:
    CommonLog();
 
    static inline InsTime _startTime;
    static inline double _originLatitude = std::nan("");
    static inline double _originLongitude = std::nan("");
 
  private:
    static inline std::mutex _mutex;
    static inline std::vector<bool> _wantsInit;
    size_t _index = 0;
};
 
} // namespace NAV