RtklibPosObs.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 "NodeData/State/PosVel.hpp"
#include "util/Eigen.hpp"
#include "Navigation/Transformations/Units.hpp"
 
namespace NAV
{
class RtklibPosObs : public PosVel
{
  public:
#ifdef TESTING
    RtklibPosObs() = default;

    RtklibPosObs(const InsTime& insTime,
                 std::optional<Eigen::Vector3d> e_position,
                 std::optional<Eigen::Vector3d> lla_position,
                 std::optional<Eigen::Vector3d> e_velocity,
                 std::optional<Eigen::Vector3d> n_velocity,
                 uint8_t Q,
                 uint8_t ns,
                 std::optional<Eigen::Vector3d> sdXYZ,
                 std::optional<Eigen::Vector3d> sdNED,
                 std::optional<double> sdxy,
                 std::optional<double> sdyz,
                 std::optional<double> sdzx,
                 std::optional<double> sdne,
                 std::optional<double> sded,
                 std::optional<double> sddn,
                 double age,
                 double ratio,
                 std::optional<Eigen::Vector3d> sdvNED,
                 std::optional<double> sdvne,
                 std::optional<double> sdved,
                 std::optional<double> sdvdn,
                 std::optional<Eigen::Vector3d> sdvXYZ,
                 std::optional<double> sdvxy,
                 std::optional<double> sdvyz,
                 std::optional<double> sdvzx)
        : Q(Q), ns(ns), age(age), ratio(ratio)
    {
        this->insTime = insTime;
 
        if (lla_position) { lla_position->head<2>() = deg2rad(lla_position->head<2>()); }
 
        if (e_position && sdXYZ && sdxy && sdzx && sdyz)
        {
            Eigen::Matrix3d covPos;
            covPos << std::pow(sdXYZ->x(), 2), *sdxy, -(*sdzx),
                -(*sdxy), std::pow(sdXYZ->y(), 2), *sdyz,
                *sdzx, -(*sdyz), std::pow(sdXYZ->z(), 2);
            if (e_velocity && sdvXYZ && sdvxy && sdvzx && sdvyz)
            {
                Eigen::Matrix6d cov = Eigen::Matrix6d::Zero();
                cov.topLeftCorner<3, 3>() = covPos;
                cov.bottomRightCorner<3, 3>() << std::pow(sdvXYZ->x(), 2), *sdvxy, -(*sdvzx),
                    -(*sdvxy), std::pow(sdvXYZ->y(), 2), *sdvyz,
                    *sdvzx, -(*sdvyz), std::pow(sdvXYZ->z(), 2);
 
                setPosVelAndCov_e(*e_position, *e_velocity, cov);
            }
            else
            {
                this->setPositionAndCov_e(*e_position, covPos);
            }
        }
        else if (lla_position && sdNED && sdne && sddn && sded)
        {
            Eigen::Matrix3d covPos;
            covPos << std::pow(sdNED->x(), 2), *sdne, -(*sddn),
                -(*sdne), std::pow(sdNED->y(), 2), *sded,
                *sddn, -(*sded), std::pow(sdNED->z(), 2);
 
            if (n_velocity && sdvNED && sdvne && sdvdn && sdved)
            {
                Eigen::Matrix6d cov = Eigen::Matrix6d::Zero();
                cov.topLeftCorner<3, 3>() = covPos;
                cov.bottomRightCorner<3, 3>() << std::pow(sdvNED->x(), 2), *sdvne, -(*sdvdn),
                    -(*sdvne), std::pow(sdvNED->y(), 2), *sdved,
                    *sdvdn, -(*sdved), std::pow(sdvNED->z(), 2);
                this->setPosVelAndCov_n(*lla_position, *n_velocity, cov);
            }
            else
            {
                this->setPositionAndCov_n(*lla_position, covPos);
            }
        }
        else if (e_position) { this->setPosition_e(*e_position); }
        else if (lla_position) { this->setPosition_lla(*lla_position); }
 
        else if (e_velocity) { this->setVelocity_e(*e_velocity); }
        else if (n_velocity) { this->setVelocity_n(*n_velocity); }
    }
#endif

    [[nodiscard]] static std::string type()
    {
        return "RtklibPosObs";
    }

    [[nodiscard]] std::string getType() const override { return type(); }

    [[nodiscard]] static std::vector<std::string> parentTypes()
    {
        auto parent = PosVel::parentTypes();
        parent.push_back(PosVel::type());
        return parent;
    }

    [[nodiscard]] static std::vector<std::string> GetStaticDataDescriptors()
    {
        auto desc = PosVel::GetStaticDataDescriptors();
        desc.reserve(GetStaticDescriptorCount());
        desc.emplace_back("Q [-]");
        desc.emplace_back("ns [-]");
        desc.emplace_back("age [s]");
        desc.emplace_back("ratio [-]");
 
        return desc;
    }

    [[nodiscard]] static constexpr size_t GetStaticDescriptorCount() { return PosVel::GetStaticDescriptorCount() + 4; }

    [[nodiscard]] std::vector<std::string> staticDataDescriptors() const override { return GetStaticDataDescriptors(); }

    [[nodiscard]] size_t staticDescriptorCount() const override { return GetStaticDescriptorCount(); }

    [[nodiscard]] std::optional<double> getValueAt(size_t idx) const override
    {
        INS_ASSERT(idx < GetStaticDescriptorCount());
        if (idx < PosVel::GetStaticDescriptorCount()) { return PosVel::getValueAt(idx); }
        switch (idx)
        {
        case PosVel::GetStaticDescriptorCount() + 0: // Q [-]
            return Q;
        case PosVel::GetStaticDescriptorCount() + 1: // ns [-]
            return ns;
        case PosVel::GetStaticDescriptorCount() + 2: // age [s]
            return age;
        case PosVel::GetStaticDescriptorCount() + 3: // ratio [-]
            return ratio;
        default:
            return std::nullopt;
        }
        return std::nullopt;
    }

    uint8_t Q = 0;
    uint8_t ns = 0;
    double age = std::nan("");
    double ratio = std::nan("");
};
 
} // namespace NAV