ImuPos.cpp

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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/.
 
#include "ImuPos.hpp"
 
#include <nlohmann/json.hpp>
using json = nlohmann::json; ///< json namespace
 
namespace NAV
{
void to_json(json& j, const ImuPos& pos)
{
    j = json{
        { "b_positionIMU_p", pos.b_positionIMU_p() },
        { "b_quat_p", pos.b_quat_p().coeffs() },
    };
}
void from_json(const json& j, ImuPos& pos)
{
    if (j.contains("b_positionIMU_p"))
    {
        j.at("b_positionIMU_p").get_to(pos._b_positionIMU_p);
    }
    if (j.contains("b_quat_p"))
    {
        j.at("b_quat_p").get_to(pos._b_quat_p.coeffs());
    }
}
 
} // namespace NAV