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 "Navigation/Transformations/Units.hpp"
#include "util/Eigen.hpp"
#include "util/Json.hpp"
 
namespace NAV
{
 
namespace Units
{
 
enum class ImuAccelerometerUnits : uint8_t
{
    m_s2,  
    COUNT, 
};
 
enum class ImuGyroscopeUnits : uint8_t
{
    rad_s, 
    deg_s, 
    COUNT, 
};
 
enum class ImuAccelerometerNoiseUnits : uint8_t
{
    m_s2_sqrts, 
    m_s2_sqrth, 
    COUNT,      
};
 
enum class ImuGyroscopeNoiseUnits : uint8_t
{
    rad_s_sqrts, 
    rad_s_sqrth, 
    deg_s_sqrts, 
    deg_s_sqrth, 
    COUNT,       
};
 
enum class ImuAccelerometerIRWUnits : uint8_t
{
    m_s3_sqrts, 
    m_s3_sqrth, 
    COUNT,      
};
 
enum class ImuGyroscopeIRWUnits : uint8_t
{
    rad_s2_sqrts, 
    rad_s2_sqrth, 
    deg_s2_sqrts, 
    deg_s2_sqrth, 
    COUNT,        
};
 
void to_json(json& j, const ImuAccelerometerUnits& data);
void from_json(const json& j, ImuAccelerometerUnits& data);
 
void to_json(json& j, const ImuGyroscopeUnits& data);
void from_json(const json& j, ImuGyroscopeUnits& data);
 
void to_json(json& j, const ImuAccelerometerNoiseUnits& data);
void from_json(const json& j, ImuAccelerometerNoiseUnits& data);
 
void to_json(json& j, const ImuGyroscopeNoiseUnits& data);
void from_json(const json& j, ImuGyroscopeNoiseUnits& data);
 
void to_json(json& j, const ImuAccelerometerIRWUnits& data);
void from_json(const json& j, ImuAccelerometerIRWUnits& data);
 
void to_json(json& j, const ImuGyroscopeIRWUnits& data);
void from_json(const json& j, ImuGyroscopeIRWUnits& data);
 
} // namespace Units
 
template<typename Derived>
[[nodiscard]] typename Derived::PlainObject convertUnit(const Eigen::MatrixBase<Derived>& value, Units::ImuAccelerometerUnits unit)
{
    switch (unit)
    {
    case Units::ImuAccelerometerUnits::m_s2:
        return value;
    case Units::ImuAccelerometerUnits::COUNT:
        break;
    }
    return value;
}
 
template<typename Derived>
[[nodiscard]] typename Derived::PlainObject convertUnit(const Eigen::MatrixBase<Derived>& value, Units::ImuGyroscopeUnits unit)
{
    switch (unit)
    {
    case Units::ImuGyroscopeUnits::rad_s:
        return value;
    case Units::ImuGyroscopeUnits::deg_s:
        return deg2rad(value);
    case Units::ImuGyroscopeUnits::COUNT:
        break;
    }
    return value;
}
 
template<typename Derived>
[[nodiscard]] typename Derived::PlainObject convertUnit(const Eigen::MatrixBase<Derived>& value, Units::ImuAccelerometerNoiseUnits unit)
{
    switch (unit)
    {
    case Units::ImuAccelerometerNoiseUnits::m_s2_sqrts:
        return value;
    case Units::ImuAccelerometerNoiseUnits::m_s2_sqrth:
        return value / 60.0;
    case Units::ImuAccelerometerNoiseUnits::COUNT:
        break;
    }
    return value;
}
 
template<typename Derived>
[[nodiscard]] typename Derived::PlainObject convertUnit(const Eigen::MatrixBase<Derived>& value, Units::ImuGyroscopeNoiseUnits unit)
{
    switch (unit)
    {
    case Units::ImuGyroscopeNoiseUnits::rad_s_sqrts:
        return value;
    case Units::ImuGyroscopeNoiseUnits::rad_s_sqrth:
        return value / 60.0;
    case Units::ImuGyroscopeNoiseUnits::deg_s_sqrts:
        return deg2rad(value);
    case Units::ImuGyroscopeNoiseUnits::deg_s_sqrth:
        return deg2rad(value) / 60.0;
    case Units::ImuGyroscopeNoiseUnits::COUNT:
        break;
    }
    return value;
}
 
template<typename Derived>
[[nodiscard]] typename Derived::PlainObject convertUnit(const Eigen::MatrixBase<Derived>& value, Units::ImuAccelerometerIRWUnits unit)
{
    switch (unit)
    {
    case Units::ImuAccelerometerIRWUnits::m_s3_sqrts:
        return value;
    case Units::ImuAccelerometerIRWUnits::m_s3_sqrth:
        return value / 60.0;
    case Units::ImuAccelerometerIRWUnits::COUNT:
        break;
    }
    return value;
}
 
template<typename Derived>
[[nodiscard]] typename Derived::PlainObject convertUnit(const Eigen::MatrixBase<Derived>& value, Units::ImuGyroscopeIRWUnits unit)
{
    switch (unit)
    {
    case Units::ImuGyroscopeIRWUnits::rad_s2_sqrts:
        return value;
    case Units::ImuGyroscopeIRWUnits::rad_s2_sqrth:
        return value / 60.0;
    case Units::ImuGyroscopeIRWUnits::deg_s2_sqrts:
        return deg2rad(value);
    case Units::ImuGyroscopeIRWUnits::deg_s2_sqrth:
        return deg2rad(value) / 60.0;
    case Units::ImuGyroscopeIRWUnits::COUNT:
        break;
    }
    return value;
}
 
[[nodiscard]] std::string to_string(Units::ImuAccelerometerUnits unit);
[[nodiscard]] std::string to_string(Units::ImuGyroscopeUnits unit);
[[nodiscard]] std::string to_string(Units::ImuAccelerometerNoiseUnits unit);
[[nodiscard]] std::string to_string(Units::ImuGyroscopeNoiseUnits unit);
[[nodiscard]] std::string to_string(Units::ImuAccelerometerIRWUnits unit);
[[nodiscard]] std::string to_string(Units::ImuGyroscopeIRWUnits unit);
 
} // namespace NAV