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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 BaroSimulator.hpp | ||
| 10 | /// @brief Barometer observation simulator | ||
| 11 | /// @author T. Hobiger (hobiger@ins.uni-stuttgart.de) | ||
| 12 | /// @date 2025-02-10 | ||
| 13 | |||
| 14 | #pragma once | ||
| 15 | |||
| 16 | #include <cstdint> | ||
| 17 | #include "internal/Node/Node.hpp" | ||
| 18 | #include "util/Random/RandomNumberGenerator.hpp" | ||
| 19 | #include "Navigation/Constants.hpp" | ||
| 20 | #include <Eigen/src/Core/Matrix.h> | ||
| 21 | |||
| 22 | namespace NAV | ||
| 23 | { | ||
| 24 | /// Convert RTKLib pos files into PosVel | ||
| 25 | class BaroSimulator : public Node | ||
| 26 | { | ||
| 27 | public: | ||
| 28 | /// @brief Default constructor | ||
| 29 | BaroSimulator(); | ||
| 30 | /// @brief Destructor | ||
| 31 | ~BaroSimulator() override; | ||
| 32 | /// @brief Copy constructor | ||
| 33 | BaroSimulator(const BaroSimulator&) = delete; | ||
| 34 | /// @brief Move constructor | ||
| 35 | BaroSimulator(BaroSimulator&&) = delete; | ||
| 36 | /// @brief Copy assignment operator | ||
| 37 | BaroSimulator& operator=(const BaroSimulator&) = delete; | ||
| 38 | /// @brief Move assignment operator | ||
| 39 | BaroSimulator& operator=(BaroSimulator&&) = delete; | ||
| 40 | |||
| 41 | /// @brief String representation of the Class Type | ||
| 42 | [[nodiscard]] static std::string typeStatic(); | ||
| 43 | |||
| 44 | /// @brief String representation of the Class Type | ||
| 45 | [[nodiscard]] std::string type() const override; | ||
| 46 | |||
| 47 | /// @brief String representation of the Class Category | ||
| 48 | [[nodiscard]] static std::string category(); | ||
| 49 | |||
| 50 | /// @brief ImGui config window which is shown on double click | ||
| 51 | /// @attention Don't forget to set _hasConfig to true in the constructor of the node | ||
| 52 | void guiConfig() override; | ||
| 53 | |||
| 54 | /// @brief Saves the node into a json object | ||
| 55 | [[nodiscard]] json save() const override; | ||
| 56 | |||
| 57 | /// @brief Restores the node from a json object | ||
| 58 | /// @param[in] j Json object with the node state | ||
| 59 | void restore(const json& j) override; | ||
| 60 | |||
| 61 | private: | ||
| 62 | constexpr static size_t OUTPUT_PORT_INDEX_BAROPRESSURE = 0; ///< @brief Flow | ||
| 63 | constexpr static size_t INPUT_PORT_INDEX_POS = 0; ///< @brief Flow | ||
| 64 | |||
| 65 | /// @brief Initialize the node | ||
| 66 | bool initialize() override; | ||
| 67 | |||
| 68 | /// @brief Deinitialize the node | ||
| 69 | void deinitialize() override; | ||
| 70 | |||
| 71 | /// @brief Converts the RtklibPosObs into PosVel | ||
| 72 | /// @param[in] queue Queue with all the received data messages | ||
| 73 | /// @param[in] pinIdx Index of the pin the data is received on | ||
| 74 | void receiveObs(InputPin::NodeDataQueue& queue, size_t pinIdx); | ||
| 75 | |||
| 76 | /// Temperature at Sea level in deg K | ||
| 77 | double _temp0 = 288.15; | ||
| 78 | /// Pressure at Sea level in hPa | ||
| 79 | double _pressure0 = 1013.25; | ||
| 80 | /// Temperature lapse rate in K / m | ||
| 81 | double _lapserate = 0.00976; | ||
| 82 | /// Geoid undulation in m | ||
| 83 | double _geoidhgt = 0.0; | ||
| 84 | /// Gravity in m / s² | ||
| 85 | double _gravity = InsConst::G_NORM; | ||
| 86 | /// pressure noise in hPa | ||
| 87 | double _pressurenoise = 0.0; | ||
| 88 | |||
| 89 | /// Random number generator for the pressure noise | ||
| 90 | RandomNumberGenerator _pressureRng; | ||
| 91 | |||
| 92 | /// save computations, by storing g * M / R0 / L; | ||
| 93 | double _exponent = InsConst::G_NORM * InsConst::dMtr / InsConst::Rg / _lapserate; | ||
| 94 | |||
| 95 | /// Initial position in LLA [deg, deg, m] for the calculation of the local gravity through EGM96 | ||
| 96 |
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112 | Eigen::Vector3d _initPos{ 48.780509, 9.171712, 300.0 }; |
| 97 | |||
| 98 | /// @brief Available options for gravity input | ||
| 99 | enum class GravityInput : uint8_t | ||
| 100 | { | ||
| 101 | Manual, ///< Manual entry of the gravity's magnitude | ||
| 102 | Position, ///< Entry of the position, gravity is then deducted from EGM96 | ||
| 103 | COUNT, ///< Number of items in the enum | ||
| 104 | }; | ||
| 105 | |||
| 106 | /// Default gravity input type | ||
| 107 | GravityInput _gravityInput = GravityInput::Manual; | ||
| 108 | |||
| 109 | /// @brief Converts the enum to a string | ||
| 110 | /// @param[in] value Enum value to convert into text | ||
| 111 | /// @return String representation of the enum | ||
| 112 | friend constexpr const char* to_string(GravityInput value); | ||
| 113 | }; | ||
| 114 | |||
| 115 | /// @brief Converts the enum to a string | ||
| 116 | /// @param[in] value Enum value to convert into text | ||
| 117 | /// @return String representation of the enum | ||
| 118 | ✗ | constexpr const char* to_string(NAV::BaroSimulator::GravityInput value) | |
| 119 | { | ||
| 120 | ✗ | switch (value) | |
| 121 | { | ||
| 122 | ✗ | case NAV::BaroSimulator::GravityInput::Manual: | |
| 123 | ✗ | return "Manual"; | |
| 124 | ✗ | case NAV::BaroSimulator::GravityInput::Position: | |
| 125 | ✗ | return "Position"; | |
| 126 | ✗ | case NAV::BaroSimulator::GravityInput::COUNT: | |
| 127 | ✗ | return ""; | |
| 128 | } | ||
| 129 | ✗ | return ""; | |
| 130 | } | ||
| 131 | |||
| 132 | } // namespace NAV | ||
| 133 |