| 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 "Imu.hpp" | ||
| 10 | #include <imgui.h> | ||
| 11 | |||
| 12 | #include "internal/FlowManager.hpp" | ||
| 13 | #include "internal/gui/widgets/HelpMarker.hpp" | ||
| 14 | #include "internal/gui/widgets/Matrix.hpp" | ||
| 15 | |||
| 16 | #include "Navigation/Transformations/CoordinateFrames.hpp" | ||
| 17 | #include "Navigation/Transformations/Units.hpp" | ||
| 18 | |||
| 19 | namespace | ||
| 20 | { | ||
| 21 | |||
| 22 | ✗ | void TrafoHelperMarker(const Eigen::Quaterniond& q) | |
| 23 | { | ||
| 24 | ✗ | if (NAV::gui::widgets::BeginHelpMarker()) | |
| 25 | { | ||
| 26 | ✗ | Eigen::Matrix3d dcm = q.toRotationMatrix(); | |
| 27 | |||
| 28 | ✗ | ImGui::BeginHorizontal("Tooltip Horizontal"); | |
| 29 | |||
| 30 | ✗ | ImGui::BeginVertical("Tooltip Vertical 1"); | |
| 31 | ✗ | ImGui::Spring(); | |
| 32 | ✗ | ImGui::TextUnformatted("(X Y Z)_b = "); | |
| 33 | ✗ | ImGui::Spring(); | |
| 34 | ✗ | ImGui::EndVertical(); | |
| 35 | |||
| 36 | ✗ | NAV::gui::widgets::MatrixView("quaternionAccel_bp", &dcm, GuiMatrixViewFlags_None, ImGuiTableFlags_Borders | ImGuiTableFlags_NoHostExtendX, "% -.1f"); | |
| 37 | |||
| 38 | ✗ | ImGui::BeginVertical("Tooltip Vertical 2"); | |
| 39 | ✗ | ImGui::Spring(); | |
| 40 | ✗ | ImGui::TextUnformatted(" * (X Y Z)_p"); | |
| 41 | ✗ | ImGui::Spring(); | |
| 42 | ✗ | ImGui::EndVertical(); | |
| 43 | |||
| 44 | ✗ | ImGui::EndHorizontal(); | |
| 45 | |||
| 46 | ✗ | NAV::gui::widgets::EndHelpMarker(); | |
| 47 | } | ||
| 48 | ✗ | } | |
| 49 | |||
| 50 | } // namespace | ||
| 51 | |||
| 52 | 1063 | NAV::Imu::Imu(std::string name) | |
| 53 |
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1063 | : Node(std::move(name)) {} |
| 54 | |||
| 55 | ✗ | void NAV::Imu::guiConfig() | |
| 56 | { | ||
| 57 | ✗ | ImGui::SetNextItemOpen(false, ImGuiCond_Appearing); | |
| 58 | ✗ | if (ImGui::TreeNode(fmt::format("Imu Position & Rotation##{}", size_t(id)).c_str())) | |
| 59 | { | ||
| 60 | ✗ | ImGui::BeginDisabled(); // FIXME Not properly simulated and accounted for in the algorithms | |
| 61 | ✗ | std::array<float, 3> imuPos = { static_cast<float>(_imuPos.b_positionIMU_p().x()), static_cast<float>(_imuPos.b_positionIMU_p().y()), static_cast<float>(_imuPos.b_positionIMU_p().z()) }; | |
| 62 | ✗ | if (ImGui::InputFloat3(fmt::format("Position [m]##{}", size_t(id)).c_str(), imuPos.data())) | |
| 63 | { | ||
| 64 | ✗ | flow::ApplyChanges(); | |
| 65 | ✗ | _imuPos._b_positionIMU_p = Eigen::Vector3d(imuPos.at(0), imuPos.at(1), imuPos.at(2)); | |
| 66 | } | ||
| 67 | ✗ | ImGui::EndDisabled(); | |
| 68 | ✗ | ImGui::SameLine(); | |
| 69 | ✗ | gui::widgets::HelpMarker("Position of the IMU sensor relative to the vehicle center of mass in the body coordinate frame."); | |
| 70 | |||
| 71 | ✗ | Eigen::Vector3d eulerAngelsIMU = rad2deg(trafo::quat2eulerZYX(_imuPos.p_quat_b())); | |
| 72 | ✗ | std::array<float, 3> imuRot = { static_cast<float>(eulerAngelsIMU.x()), static_cast<float>(eulerAngelsIMU.y()), static_cast<float>(eulerAngelsIMU.z()) }; | |
| 73 | ✗ | if (ImGui::InputFloat3(fmt::format("Rotation [deg]##{}", size_t(id)).c_str(), imuRot.data())) | |
| 74 | { | ||
| 75 | // (-180:180] x (-90:90] x (-180:180] | ||
| 76 | ✗ | imuRot.at(0) = std::max(imuRot.at(0), -179.9999F); | |
| 77 | ✗ | imuRot.at(0) = std::min(imuRot.at(0), 180.0F); | |
| 78 | ✗ | imuRot.at(1) = std::max(imuRot.at(1), -89.9999F); | |
| 79 | ✗ | imuRot.at(1) = std::min(imuRot.at(1), 90.0F); | |
| 80 | ✗ | imuRot.at(2) = std::max(imuRot.at(2), -179.9999F); | |
| 81 | ✗ | imuRot.at(2) = std::min(imuRot.at(2), 180.0F); | |
| 82 | |||
| 83 | ✗ | flow::ApplyChanges(); | |
| 84 | ✗ | _imuPos._b_quat_p = trafo::b_Quat_p(deg2rad(imuRot.at(0)), deg2rad(imuRot.at(1)), deg2rad(imuRot.at(2))); | |
| 85 | } | ||
| 86 | ✗ | ImGui::SameLine(); | |
| 87 | ✗ | TrafoHelperMarker(_imuPos.b_quat_p()); | |
| 88 | |||
| 89 | ✗ | ImGui::TreePop(); | |
| 90 | } | ||
| 91 | ✗ | } | |
| 92 | |||
| 93 | ✗ | [[nodiscard]] json NAV::Imu::save() const | |
| 94 | { | ||
| 95 | LOG_TRACE("{}: called", nameId()); | ||
| 96 | |||
| 97 | ✗ | json j; | |
| 98 | |||
| 99 | ✗ | j["imuPos"] = _imuPos; | |
| 100 | |||
| 101 | ✗ | return j; | |
| 102 | ✗ | } | |
| 103 | |||
| 104 | 53 | void NAV::Imu::restore(json const& j) | |
| 105 | { | ||
| 106 | LOG_TRACE("{}: called", nameId()); | ||
| 107 | |||
| 108 |
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53 | if (j.contains("imuPos")) |
| 109 | { | ||
| 110 | 53 | j.at("imuPos").get_to(_imuPos); | |
| 111 | } | ||
| 112 | 53 | } | |
| 113 |