Units.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 <cstddef>
#include <string>
#include <Eigen/Core>
 
#include "util/Json.hpp"
 
namespace NAV
{
 
namespace Units
{

enum class PositionUncertaintyUnits : uint8_t
{
    meter,  
    meter2, 
    COUNT,  
};

enum class VelocityUncertaintyUnits : uint8_t
{
    m_s,   
    m2_s2, 
    COUNT, 
};

enum class AttitudeUncertaintyUnits : uint8_t
{
    rad,   
    deg,   
    rad2,  
    deg2,  
    COUNT, 
};

enum class VelocityUnits : uint8_t
{
    m_s,   
    COUNT, 
};

enum class AttitudeUnits : uint8_t
{
    rad,   
    deg,   
    COUNT, 
};

void to_json(json& j, const PositionUncertaintyUnits& data);
void from_json(const json& j, PositionUncertaintyUnits& data);

void to_json(json& j, const VelocityUncertaintyUnits& data);
void from_json(const json& j, VelocityUncertaintyUnits& data);

void to_json(json& j, const AttitudeUncertaintyUnits& data);
void from_json(const json& j, AttitudeUncertaintyUnits& data);

void to_json(json& j, const VelocityUnits& data);
void from_json(const json& j, VelocityUnits& data);

void to_json(json& j, const AttitudeUnits& data);
void from_json(const json& j, AttitudeUnits& data);
 
} // namespace Units

[[nodiscard]] double convertUnit(const double& value, Units::PositionUncertaintyUnits unit);
[[nodiscard]] Eigen::Vector3d convertUnit(const Eigen::Vector3d& value, Units::PositionUncertaintyUnits unit);

[[nodiscard]] double convertUnit(const double& value, Units::VelocityUncertaintyUnits unit);
[[nodiscard]] Eigen::Vector3d convertUnit(const Eigen::Vector3d& value, Units::VelocityUncertaintyUnits unit);

[[nodiscard]] double convertUnit(const double& value, Units::AttitudeUncertaintyUnits unit);
[[nodiscard]] Eigen::Vector3d convertUnit(const Eigen::Vector3d& value, Units::AttitudeUncertaintyUnits unit);

[[nodiscard]] double convertUnit(const double& value, Units::VelocityUnits unit);
[[nodiscard]] Eigen::Vector3d convertUnit(const Eigen::Vector3d& value, Units::VelocityUnits unit);

[[nodiscard]] double convertUnit(const double& value, Units::AttitudeUnits unit);
[[nodiscard]] Eigen::Vector3d convertUnit(const Eigen::Vector3d& value, Units::AttitudeUnits unit);

[[nodiscard]] std::string to_string(Units::PositionUncertaintyUnits unit);
[[nodiscard]] std::string to_string(Units::VelocityUncertaintyUnits unit);
[[nodiscard]] std::string to_string(Units::AttitudeUncertaintyUnits unit);

[[nodiscard]] std::string to_string(Units::VelocityUnits unit);
[[nodiscard]] std::string to_string(Units::AttitudeUnits unit);
 
} // namespace NAV