Keys.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 <array>
#include <cmath>
#include <iostream>
#include <fmt/format.h>
 
namespace NAV::Keys
{

enum InertialNavigationKey : uint8_t
{
    AccelBiasX, 
    AccelBiasY, 
    AccelBiasZ, 
    GyroBiasX,  
    GyroBiasY,  
    GyroBiasZ,  
 
    AccelScaleFactorX, 
    AccelScaleFactorY, 
    AccelScaleFactorZ, 
    GyroScaleFactorX,  
    GyroScaleFactorY,  
    GyroScaleFactorZ,  
 
    AccelMisalignmentQ1, 
    AccelMisalignmentQ2, 
    AccelMisalignmentQ3, 
    AccelMisalignmentQ0, 
    GyroMisalignmentQ1,  
    GyroMisalignmentQ2,  
    GyroMisalignmentQ3,  
    GyroMisalignmentQ0,  
 
    InertialNavigationKey_COUNT, 
};

template<typename StateKeyType>
constexpr std::array<StateKeyType, 3> AccelBias = { Keys::AccelBiasX, Keys::AccelBiasY, Keys::AccelBiasZ };
template<typename StateKeyType>
constexpr std::array<StateKeyType, 3> GyroBias = { Keys::GyroBiasX, Keys::GyroBiasY, Keys::GyroBiasZ };

template<typename StateKeyType>
constexpr std::array<StateKeyType, 3> AccelScaleFactor = { Keys::AccelScaleFactorX, Keys::AccelScaleFactorY, Keys::AccelScaleFactorZ };
template<typename StateKeyType>
constexpr std::array<StateKeyType, 3> GyroScaleFactor = { Keys::GyroScaleFactorX, Keys::GyroScaleFactorY, Keys::GyroScaleFactorZ };

template<typename StateKeyType>
constexpr std::array<StateKeyType, 4> AccelMisalignment = { Keys::AccelMisalignmentQ1, Keys::AccelMisalignmentQ2, Keys::AccelMisalignmentQ3, Keys::AccelMisalignmentQ0 };
template<typename StateKeyType>
constexpr std::array<StateKeyType, 4> GyroMisalignment = { Keys::GyroMisalignmentQ1, Keys::GyroMisalignmentQ2, Keys::GyroMisalignmentQ3, Keys::GyroMisalignmentQ0 };
 
} // namespace NAV::Keys

std::ostream& operator<<(std::ostream& os, const NAV::Keys::InertialNavigationKey& obj);
 
#ifndef DOXYGEN_IGNORE

template<>
struct fmt::formatter<NAV::Keys::InertialNavigationKey> : fmt::formatter<const char*>
{
    template<typename FormatContext>
    auto format(const NAV::Keys::InertialNavigationKey& state, FormatContext& ctx) const
    {
        using namespace NAV::Keys; // NOLINT(google-build-using-namespace)
 
        switch (state)
        {
        case AccelBiasX:
            return fmt::formatter<const char*>::format("AccelBiasX", ctx);
        case AccelBiasY:
            return fmt::formatter<const char*>::format("AccelBiasY", ctx);
        case AccelBiasZ:
            return fmt::formatter<const char*>::format("AccelBiasZ", ctx);
        case GyroBiasX:
            return fmt::formatter<const char*>::format("GyroBiasX", ctx);
        case GyroBiasY:
            return fmt::formatter<const char*>::format("GyroBiasY", ctx);
        case GyroBiasZ:
            return fmt::formatter<const char*>::format("GyroBiasZ", ctx);
        case AccelScaleFactorX:
            return fmt::formatter<const char*>::format("AccelScaleFactorX", ctx);
        case AccelScaleFactorY:
            return fmt::formatter<const char*>::format("AccelScaleFactorY", ctx);
        case AccelScaleFactorZ:
            return fmt::formatter<const char*>::format("AccelScaleFactorZ", ctx);
        case GyroScaleFactorX:
            return fmt::formatter<const char*>::format("GyroScaleFactorX", ctx);
        case GyroScaleFactorY:
            return fmt::formatter<const char*>::format("GyroScaleFactorY", ctx);
        case GyroScaleFactorZ:
            return fmt::formatter<const char*>::format("GyroScaleFactorZ", ctx);
        case AccelMisalignmentQ1:
            return fmt::formatter<const char*>::format("AccelMisalignmentQ1", ctx);
        case AccelMisalignmentQ2:
            return fmt::formatter<const char*>::format("AccelMisalignmentQ2", ctx);
        case AccelMisalignmentQ3:
            return fmt::formatter<const char*>::format("AccelMisalignmentQ3", ctx);
        case AccelMisalignmentQ0:
            return fmt::formatter<const char*>::format("AccelMisalignmentQ0", ctx);
        case GyroMisalignmentQ1:
            return fmt::formatter<const char*>::format("GyroMisalignmentQ1", ctx);
        case GyroMisalignmentQ2:
            return fmt::formatter<const char*>::format("GyroMisalignmentQ2", ctx);
        case GyroMisalignmentQ3:
            return fmt::formatter<const char*>::format("GyroMisalignmentQ3", ctx);
        case GyroMisalignmentQ0:
            return fmt::formatter<const char*>::format("GyroMisalignmentQ0", ctx);
        case InertialNavigationKey_COUNT:
            return fmt::formatter<const char*>::format("InertialNavigationKey_COUNT", ctx);
        }
 
        return fmt::formatter<const char*>::format("ERROR", ctx);
    }
};
 
#endif