INSTINCT Code Coverage Report

Directory:	src/
File:	Navigation/INS/EcefFrame/ErrorEquations.cpp
Date:	2025-02-07 16:54:41

	Exec	Total	Coverage
Lines:	32	32	100.0%
Functions:	9	9	100.0%
Branches:	51	102	50.0%

  
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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/.
    
      #include "ErrorEquations.hpp"
    
      #include "Navigation/Constants.hpp"
    
      #include "Navigation/Math/Math.hpp"
    
      namespace NAV
    
      {
    
      12888
      Eigen::Matrix3d e_F_dpsi_dpsi(double omega_ie)
    
      {
    
          // Math: \mathbf{F}_{11}^e = -\mathbf{\Omega}_{ie}^e
    
      12888
          Eigen::Matrix3d e_F_11;
    
          // clang-format off
    
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          e_F_11 <<      0   , omega_ie, 0,
    
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                    -omega_ie,     0   , 0,
    
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                         0   ,     0   , 0;
    
          // clang-format on
    
      12888
          return e_F_11;
    
      }
    
      12888
      Eigen::Matrix3d e_F_dpsi_dw(const Eigen::Matrix3d& e_Dcm_b)
    
      {
    
      12888
          return e_Dcm_b;
    
      }
    
      12888
      Eigen::Matrix3d e_F_dv_dpsi(const Eigen::Vector3d& e_force_ib)
    
      {
    
          // Math: \mathbf{F}_{21}^e = \begin{bmatrix} (\mathbf{C}_{b}^e \hat{f}_{ib}^b) \land \end{bmatrix}
    
      12888
          Eigen::Matrix3d e_F_21;
    
          // clang-format off
    
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          e_F_21 <<        0       ,  e_force_ib.z(), -e_force_ib.y(),
    
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                    -e_force_ib.z(),        0       ,  e_force_ib.x(),
    
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      12888
                     e_force_ib.y(), -e_force_ib.x(),        0       ;
    
          // clang-format on
    
      12888
          return e_F_21;
    
      }
    
      12888
      Eigen::Matrix3d e_F_dv_dv(double omega_ie)
    
      {
    
          // Math: \mathbf{F}_{22}^e = -2\mathbf{\Omega}_{ie}^e
    
      12888
          Eigen::Matrix3d e_F_22;
    
          // clang-format off
    
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          e_F_22 <<        0     , 2 * omega_ie, 0,
    
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                    -2 * omega_ie,       0     , 0,
    
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                           0     ,       0     , 0;
    
          // clang-format on
    
      12888
          return e_F_22;
    
      }
    
      12888
      Eigen::Matrix3d e_F_dv_dr(const Eigen::Vector3d& e_position, const Eigen::Vector3d& e_gravitation, double r_eS_e, const Eigen::Vector3d& e_omega_ie)
    
      {
    
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      12888
          Eigen::Matrix3d e_Omega_ie = math::skewSymmetricMatrix(e_omega_ie);
    
          // Math: \mathbf{F}_{23}^e = -\left( \dfrac{2 \boldsymbol{\gamma}_{ib}^e}{r_{eS}^e} \dfrac{{\mathbf{r}_{eb}^e}^T}{\left| \mathbf{r}_{eb}^e \right|} + \boldsymbol{\Omega}_{ie}^e \boldsymbol{\Omega}_{ie}^e \right)
    
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          Eigen::Matrix3d e_F_23 = -((2 * e_gravitation * e_position.transpose()) / (r_eS_e * e_position.norm()) + e_Omega_ie * e_Omega_ie);
    
      25776
          return e_F_23;
    
      }
    
      12888
      Eigen::Matrix3d e_F_dv_df(const Eigen::Matrix3d& e_Dcm_b)
    
      {
    
      12888
          return e_Dcm_b;
    
      }
    
      12888
      Eigen::Matrix3d e_F_dr_dv()
    
      {
    
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          return Eigen::Matrix3d::Identity();
    
      }
    
      6444
      Eigen::Matrix3d e_F_df_df(const Eigen::Vector3d& beta_a)
    
      {
    
          // Math: \mathbf{F}_{a} = - \begin{bmatrix} \beta_{a,1} & 0 & 0 \\ 0 & \beta_{a,2} & 0 \\ 0 & 0 & \beta_{a,2} \end{bmatrix} \quad \text{T. Hobiger}\,(6.3)
    
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      6444
          return -1.0 * beta_a.asDiagonal();
    
      }
    
      6444
      Eigen::Matrix3d e_F_dw_dw(const Eigen::Vector3d& beta_omega)
    
      {
    
          // Math: \mathbf{F}_{\omega} = - \begin{bmatrix} \beta_{\omega,1} & 0 & 0 \\ 0 & \beta_{\omega,2} & 0 \\ 0 & 0 & \beta_{\omega,2} \end{bmatrix} \quad \text{T. Hobiger}\,(6.3)
    
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      6444
          return -1.0 * beta_omega.asDiagonal();
    
      }
    
      } // namespace NAV

Line	Branch	Exec	Source
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			#include "ErrorEquations.hpp"
10
11			#include "Navigation/Constants.hpp"
12			#include "Navigation/Math/Math.hpp"
13
14			namespace NAV
15			{
16
17		12888	Eigen::Matrix3d e_F_dpsi_dpsi(double omega_ie)
18			{
19			// Math: \mathbf{F}_{11}^e = -\mathbf{\Omega}_{ie}^e
20		12888	Eigen::Matrix3d e_F_11;
21			// clang-format off
22	3/6 ✓ Branch 1 taken 12888 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 12888 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 12888 times. ✗ Branch 8 not taken.	12888	e_F_11 << 0 , omega_ie, 0,
23	3/6 ✓ Branch 1 taken 12888 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 12888 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 12888 times. ✗ Branch 8 not taken.	12888	-omega_ie, 0 , 0,
24	3/6 ✓ Branch 1 taken 12888 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 12888 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 12888 times. ✗ Branch 8 not taken.	12888	0 , 0 , 0;
25			// clang-format on
26		12888	return e_F_11;
27			}
28
29		12888	Eigen::Matrix3d e_F_dpsi_dw(const Eigen::Matrix3d& e_Dcm_b)
30			{
31		12888	return e_Dcm_b;
32			}
33
34		12888	Eigen::Matrix3d e_F_dv_dpsi(const Eigen::Vector3d& e_force_ib)
35			{
36			// Math: \mathbf{F}_{21}^e = \begin{bmatrix} (\mathbf{C}_{b}^e \hat{f}_{ib}^b) \land \end{bmatrix}
37		12888	Eigen::Matrix3d e_F_21;
38			// clang-format off
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40	5/10 ✓ Branch 1 taken 12888 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 12888 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 12888 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 12888 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 12888 times. ✗ Branch 14 not taken.	12888	-e_force_ib.z(), 0 , e_force_ib.x(),
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42			// clang-format on
43		12888	return e_F_21;
44			}
45
46		12888	Eigen::Matrix3d e_F_dv_dv(double omega_ie)
47			{
48			// Math: \mathbf{F}_{22}^e = -2\mathbf{\Omega}_{ie}^e
49		12888	Eigen::Matrix3d e_F_22;
50			// clang-format off
51	3/6 ✓ Branch 1 taken 12888 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 12888 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 12888 times. ✗ Branch 8 not taken.	12888	e_F_22 << 0 , 2 * omega_ie, 0,
52	3/6 ✓ Branch 1 taken 12888 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 12888 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 12888 times. ✗ Branch 8 not taken.	12888	-2 * omega_ie, 0 , 0,
53	3/6 ✓ Branch 1 taken 12888 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 12888 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 12888 times. ✗ Branch 8 not taken.	12888	0 , 0 , 0;
54			// clang-format on
55		12888	return e_F_22;
56			}
57
58		12888	Eigen::Matrix3d e_F_dv_dr(const Eigen::Vector3d& e_position, const Eigen::Vector3d& e_gravitation, double r_eS_e, const Eigen::Vector3d& e_omega_ie)
59			{
60	1/2 ✓ Branch 1 taken 12888 times. ✗ Branch 2 not taken.	12888	Eigen::Matrix3d e_Omega_ie = math::skewSymmetricMatrix(e_omega_ie);
61
62			// Math: \mathbf{F}_{23}^e = -\left( \dfrac{2 \boldsymbol{\gamma}_{ib}^e}{r_{eS}^e} \dfrac{{\mathbf{r}_{eb}^e}^T}{\left\| \mathbf{r}_{eb}^e \right\|} + \boldsymbol{\Omega}_{ie}^e \boldsymbol{\Omega}_{ie}^e \right)
63	9/18 ✓ Branch 1 taken 12888 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 12888 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 12888 times. ✗ Branch 8 not taken. ✓ Branch 10 taken 12888 times. ✗ Branch 11 not taken. ✓ Branch 13 taken 12888 times. ✗ Branch 14 not taken. ✓ Branch 16 taken 12888 times. ✗ Branch 17 not taken. ✓ Branch 19 taken 12888 times. ✗ Branch 20 not taken. ✓ Branch 22 taken 12888 times. ✗ Branch 23 not taken. ✓ Branch 25 taken 12888 times. ✗ Branch 26 not taken.	12888	Eigen::Matrix3d e_F_23 = -((2 * e_gravitation * e_position.transpose()) / (r_eS_e * e_position.norm()) + e_Omega_ie * e_Omega_ie);
64
65		25776	return e_F_23;
66			}
67
68		12888	Eigen::Matrix3d e_F_dv_df(const Eigen::Matrix3d& e_Dcm_b)
69			{
70		12888	return e_Dcm_b;
71			}
72
73		12888	Eigen::Matrix3d e_F_dr_dv()
74			{
75	2/4 ✓ Branch 1 taken 12888 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 12888 times. ✗ Branch 5 not taken.	12888	return Eigen::Matrix3d::Identity();
76			}
77
78		6444	Eigen::Matrix3d e_F_df_df(const Eigen::Vector3d& beta_a)
79			{
80			// Math: \mathbf{F}_{a} = - \begin{bmatrix} \beta_{a,1} & 0 & 0 \\ 0 & \beta_{a,2} & 0 \\ 0 & 0 & \beta_{a,2} \end{bmatrix} \quad \text{T. Hobiger}\,(6.3)
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82			}
83
84		6444	Eigen::Matrix3d e_F_dw_dw(const Eigen::Vector3d& beta_omega)
85			{
86			// Math: \mathbf{F}_{\omega} = - \begin{bmatrix} \beta_{\omega,1} & 0 & 0 \\ 0 & \beta_{\omega,2} & 0 \\ 0 & 0 & \beta_{\omega,2} \end{bmatrix} \quad \text{T. Hobiger}\,(6.3)
87	3/6 ✓ Branch 1 taken 6444 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 6444 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 6444 times. ✗ Branch 8 not taken.	6444	return -1.0 * beta_omega.asDiagonal();
88			}
89
90			} // namespace NAV
91