Mechanization.hpp

Go to the documentation of this file.

// 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 <type_traits>
 
#include "Navigation/Gravity/Gravity.hpp"
 
namespace NAV
{
 
template<typename Scalar, typename = std::enable_if_t<std::is_floating_point_v<Scalar>>>
struct PosVelAttDerivativeConstants
{
    GravitationModel gravitationModel = GravitationModel::EGM96; 
    bool coriolisAccelerationCompensationEnabled = true;         
    bool centrifgalAccelerationCompensationEnabled = true;       
    bool angularRateEarthRotationCompensationEnabled = true;     
    bool angularRateTransportRateCompensationEnabled = true;     
    Scalar timeDifferenceSec = 0.0;                              
};
 
template<typename Scalar, typename = std::enable_if_t<std::is_floating_point_v<Scalar>>>
void to_json(json& j, const PosVelAttDerivativeConstants<Scalar>& data)
{
    j = json{
        { "gravitationModel", data.gravitationModel },
        { "coriolisAccelerationCompensationEnabled", data.coriolisAccelerationCompensationEnabled },
        { "centrifgalAccelerationCompensationEnabled", data.centrifgalAccelerationCompensationEnabled },
        { "angularRateEarthRotationCompensationEnabled", data.angularRateEarthRotationCompensationEnabled },
        { "angularRateTransportRateCompensationEnabled", data.angularRateTransportRateCompensationEnabled },
    };
}
template<typename Scalar, typename = std::enable_if_t<std::is_floating_point_v<Scalar>>>
void from_json(const json& j, PosVelAttDerivativeConstants<Scalar>& data)
{
    if (j.contains("gravitationModel")) { j.at("gravitationModel").get_to(data.gravitationModel); }
    if (j.contains("coriolisAccelerationCompensationEnabled")) { j.at("coriolisAccelerationCompensationEnabled").get_to(data.coriolisAccelerationCompensationEnabled); }
    if (j.contains("centrifgalAccelerationCompensationEnabled")) { j.at("centrifgalAccelerationCompensationEnabled").get_to(data.centrifgalAccelerationCompensationEnabled); }
    if (j.contains("angularRateEarthRotationCompensationEnabled")) { j.at("angularRateEarthRotationCompensationEnabled").get_to(data.angularRateEarthRotationCompensationEnabled); }
    if (j.contains("angularRateTransportRateCompensationEnabled")) { j.at("angularRateTransportRateCompensationEnabled").get_to(data.angularRateTransportRateCompensationEnabled); }
}
 
} // namespace NAV