PositionInput.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 <cstdint>
#include <Eigen/Core>
#include <nlohmann/json.hpp>
using json = nlohmann::json; 
 
#include "Navigation/Transformations/Units.hpp"
#include "Navigation/Transformations/CoordinateFrames.hpp"
 
namespace NAV
{
namespace gui::widgets
{

struct PositionWithFrame
{
    enum class ReferenceFrame : uint8_t
    {
        ECEF,  
        LLA,   
        COUNT, 
    };

    ReferenceFrame frame = ReferenceFrame::LLA;
    Eigen::Vector3d e_position = trafo::lla2ecef_WGS84(Eigen::Vector3d::Zero());

    [[nodiscard]] double latitude() const { return trafo::ecef2lla_WGS84(e_position)(0); }
    [[nodiscard]] double longitude() const { return trafo::ecef2lla_WGS84(e_position)(1); }
    [[nodiscard]] double altitude() const { return trafo::ecef2lla_WGS84(e_position)(2); }
    [[nodiscard]] double latitude_deg() const { return trafo::ecef2lla_WGS84(e_position)(0); }
    [[nodiscard]] double longitude_deg() const { return trafo::ecef2lla_WGS84(e_position)(1); }

    [[nodiscard]] Eigen::Vector3d latLonAlt() const { return trafo::ecef2lla_WGS84(e_position); }
    [[nodiscard]] Eigen::Vector3d latLonAlt_deg() const
    {
        auto lla = trafo::ecef2lla_WGS84(e_position);
        return { rad2deg(lla(0)), rad2deg(lla(1)), lla(2) };
    }
};

void to_json(json& j, const PositionWithFrame::ReferenceFrame& refFrame);
void from_json(const json& j, PositionWithFrame::ReferenceFrame& refFrame);
void to_json(json& j, const PositionWithFrame& position);
void from_json(const json& j, PositionWithFrame& position);

enum class PositionInputLayout : uint8_t
{
    SINGLE_COLUMN, 
    SINGLE_ROW,    
    TWO_ROWS,      
};

bool PositionInput(const char* str, PositionWithFrame& position, PositionInputLayout layout = PositionInputLayout::SINGLE_COLUMN, float itemWidth = 140.0F);
 
} // namespace gui::widgets

const char* to_string(gui::widgets::PositionWithFrame::ReferenceFrame refFrame);
 
} // namespace NAV