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|---|---|---|---|
| 1 | // This file is part of INSTINCT, the INS Toolkit for Integrated | ||
| 2 | // Navigation Concepts and Training by the Institute of Navigation of | ||
| 3 | // the University of Stuttgart, Germany. | ||
| 4 | // | ||
| 5 | // This Source Code Form is subject to the terms of the Mozilla Public | ||
| 6 | // License, v. 2.0. If a copy of the MPL was not distributed with this | ||
| 7 | // file, You can obtain one at https://mozilla.org/MPL/2.0/. | ||
| 8 | |||
| 9 | /// @file BaroHgt.hpp | ||
| 10 | /// @brief Barometric Height Storage Class | ||
| 11 | /// @author T. Hobiger (hobiger@ins.uni-stuttgart.de) | ||
| 12 | /// @date 2025-02-10 | ||
| 13 | |||
| 14 | #pragma once | ||
| 15 | |||
| 16 | #include "NodeData/NodeData.hpp" | ||
| 17 | #include "util/Assert.h" | ||
| 18 | #include <Eigen/src/Core/MatrixBase.h> | ||
| 19 | |||
| 20 | namespace NAV | ||
| 21 | { | ||
| 22 | /// Barometric height storage class | ||
| 23 | class BaroHgt : public NodeData | ||
| 24 | { | ||
| 25 | public: | ||
| 26 | /// @brief Returns the type of the data class | ||
| 27 | /// @return The data type | ||
| 28 | 941 | [[nodiscard]] static std::string type() | |
| 29 | { | ||
| 30 |
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1882 | return "BaroHgt"; |
| 31 | } | ||
| 32 | |||
| 33 | /// @brief Returns the type of the data class | ||
| 34 | /// @return The data type | ||
| 35 | ✗ | [[nodiscard]] std::string getType() const override { return type(); } | |
| 36 | |||
| 37 | /// @brief Returns the parent types of the data class | ||
| 38 | /// @return The parent data types | ||
| 39 | 112 | [[nodiscard]] static std::vector<std::string> parentTypes() | |
| 40 | { | ||
| 41 |
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336 | return { NodeData::type() }; |
| 42 | 112 | } | |
| 43 | |||
| 44 | /// @brief Returns a vector of data descriptors | ||
| 45 | ✗ | [[nodiscard]] static std::vector<std::string> GetStaticDataDescriptors() | |
| 46 | { | ||
| 47 | return { | ||
| 48 | "BaroHgt [m]", | ||
| 49 | "BaroHgt StDev [m]" | ||
| 50 | ✗ | }; | |
| 51 | } | ||
| 52 | |||
| 53 | /// @brief Get the amount of descriptors | ||
| 54 | ✗ | [[nodiscard]] static constexpr size_t GetStaticDescriptorCount() { return 2; } | |
| 55 | |||
| 56 | /// @brief Returns a vector of data descriptors | ||
| 57 | ✗ | [[nodiscard]] std::vector<std::string> staticDataDescriptors() const override { return GetStaticDataDescriptors(); } | |
| 58 | |||
| 59 | /// @brief Get the amount of descriptors | ||
| 60 | ✗ | [[nodiscard]] size_t staticDescriptorCount() const override { return GetStaticDescriptorCount(); } | |
| 61 | |||
| 62 | /// @brief Get the value at the index | ||
| 63 | /// @param idx Index corresponding to data descriptor order | ||
| 64 | /// @return Value if in the observation | ||
| 65 | ✗ | [[nodiscard]] std::optional<double> getValueAt(size_t idx) const override | |
| 66 | { | ||
| 67 | ✗ | INS_ASSERT(idx < GetStaticDescriptorCount()); | |
| 68 | ✗ | switch (idx) | |
| 69 | { | ||
| 70 | ✗ | case 0: // BaroHgt [m] | |
| 71 | ✗ | return baro_height; | |
| 72 | ✗ | case 1: // BaroHgt StDev [m] | |
| 73 | ✗ | return baro_heightStdev; | |
| 74 | ✗ | default: | |
| 75 | ✗ | return std::nullopt; | |
| 76 | } | ||
| 77 | return std::nullopt; | ||
| 78 | } | ||
| 79 | |||
| 80 | /// @brief Set the value at the index | ||
| 81 | /// @param idx Index corresponding to data descriptor order | ||
| 82 | /// @param value Value to set | ||
| 83 | /// @return True if the value was updated | ||
| 84 | ✗ | [[nodiscard]] bool setValueAt(size_t idx, double value) override | |
| 85 | { | ||
| 86 | ✗ | INS_ASSERT(idx < GetStaticDescriptorCount()); | |
| 87 | ✗ | switch (idx) | |
| 88 | { | ||
| 89 | ✗ | case 0: // BaroHgt [m] | |
| 90 | ✗ | baro_height = value; | |
| 91 | ✗ | break; | |
| 92 | ✗ | case 1: // BaroHgt StDev [m] | |
| 93 | ✗ | baro_heightStdev = value; | |
| 94 | ✗ | break; | |
| 95 | ✗ | default: | |
| 96 | ✗ | return false; | |
| 97 | } | ||
| 98 | |||
| 99 | ✗ | return true; | |
| 100 | } | ||
| 101 | |||
| 102 | /// Barometric height [m] | ||
| 103 | double baro_height{ std::nan("") }; | ||
| 104 | |||
| 105 | /// Standard deviation of barometric height [m] | ||
| 106 | std::optional<double> baro_heightStdev; | ||
| 107 | }; | ||
| 108 | |||
| 109 | } // namespace NAV | ||
| 110 |