ImuPos.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 "util/Eigen.hpp"
 
namespace NAV
{
// Forward declarations
class Imu;
class MultiImuFile;
 
class ImuPos
{
  public:
    [[nodiscard]] const Eigen::Vector3d& b_positionAccel() const
    {
        return _b_positionAccel;
    }
    [[nodiscard]] const Eigen::Vector3d& b_positionGyro() const
    {
        return _b_positionGyro;
    }
    [[nodiscard]] const Eigen::Vector3d& b_positionMag() const
    {
        return _b_positionMag;
    }
 
    [[nodiscard]] const Eigen::Quaterniond& b_quatAccel_p() const
    {
        return _b_quatAccel_p;
    }
    [[nodiscard]] Eigen::Quaterniond p_quatAccel_b() const
    {
        return _b_quatAccel_p.conjugate();
    }
 
    [[nodiscard]] const Eigen::Quaterniond& b_quatGyro_p() const
    {
        return _b_quatGyro_p;
    }
    [[nodiscard]] Eigen::Quaterniond p_quatGyro_b() const
    {
        return _b_quatGyro_p.conjugate();
    }
 
    [[nodiscard]] const Eigen::Quaterniond& b_quatMag_p() const
    {
        return _b_quatMag_p;
    }
    [[nodiscard]] Eigen::Quaterniond p_quatMag_b() const
    {
        return _b_quatMag_p.conjugate();
    }
 
  private:
    Eigen::Vector3d _b_positionAccel = { 0, 0, 0 };
    Eigen::Vector3d _b_positionGyro = { 0, 0, 0 };
    Eigen::Vector3d _b_positionMag = { 0, 0, 0 };
 
    Eigen::Quaterniond _b_quatAccel_p = Eigen::Quaterniond::Identity();
    Eigen::Quaterniond _b_quatGyro_p = { 1, 0, 0, 0 };
    Eigen::Quaterniond _b_quatMag_p = { 1, 0, 0, 0 };
 
    friend class Imu;
    friend class MultiImuFile;
    friend void from_json(const json& j, ImuPos& pos);
};
 
void to_json(json& j, const ImuPos& pos);
void from_json(const json& j, ImuPos& pos);
 
} // namespace NAV