| 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 | |||
| 11 | #include "internal/FlowManager.hpp" | ||
| 12 | #include "internal/gui/widgets/HelpMarker.hpp" | ||
| 13 | #include "internal/gui/widgets/Matrix.hpp" | ||
| 14 | |||
| 15 | #include "Navigation/Transformations/CoordinateFrames.hpp" | ||
| 16 | #include "Navigation/Transformations/Units.hpp" | ||
| 17 | |||
| 18 | namespace | ||
| 19 | { | ||
| 20 | |||
| 21 | ✗ | void TrafoHelperMarker(const Eigen::Quaterniond& q) | |
| 22 | { | ||
| 23 | ✗ | if (NAV::gui::widgets::BeginHelpMarker()) | |
| 24 | { | ||
| 25 | ✗ | Eigen::Matrix3d dcm = q.toRotationMatrix(); | |
| 26 | |||
| 27 | ✗ | ImGui::BeginHorizontal("Tooltip Horizontal"); | |
| 28 | |||
| 29 | ✗ | ImGui::BeginVertical("Tooltip Vertical 1"); | |
| 30 | ✗ | ImGui::Spring(); | |
| 31 | ✗ | ImGui::TextUnformatted("(X Y Z)_b = "); | |
| 32 | ✗ | ImGui::Spring(); | |
| 33 | ✗ | ImGui::EndVertical(); | |
| 34 | |||
| 35 | ✗ | NAV::gui::widgets::MatrixView("quaternionAccel_bp", &dcm, GuiMatrixViewFlags_None, ImGuiTableFlags_Borders | ImGuiTableFlags_NoHostExtendX, "% -.1f"); | |
| 36 | |||
| 37 | ✗ | ImGui::BeginVertical("Tooltip Vertical 2"); | |
| 38 | ✗ | ImGui::Spring(); | |
| 39 | ✗ | ImGui::TextUnformatted(" * (X Y Z)_p"); | |
| 40 | ✗ | ImGui::Spring(); | |
| 41 | ✗ | ImGui::EndVertical(); | |
| 42 | |||
| 43 | ✗ | ImGui::EndHorizontal(); | |
| 44 | |||
| 45 | ✗ | NAV::gui::widgets::EndHelpMarker(); | |
| 46 | } | ||
| 47 | ✗ | } | |
| 48 | |||
| 49 | } // namespace | ||
| 50 | |||
| 51 | 1064 | NAV::Imu::Imu(std::string name) | |
| 52 |
2/4✓ Branch 3 taken 1064 times.
✗ Branch 4 not taken.
✓ Branch 7 taken 1064 times.
✗ Branch 8 not taken.
|
1064 | : Node(std::move(name)) {} |
| 53 | |||
| 54 | ✗ | void NAV::Imu::guiConfig() | |
| 55 | { | ||
| 56 | ✗ | ImGui::SetNextItemOpen(false, ImGuiCond_Appearing); | |
| 57 | ✗ | if (ImGui::TreeNode(fmt::format("Imu Position & Rotation##{}", size_t(id)).c_str())) | |
| 58 | { | ||
| 59 | ✗ | std::array<float, 3> imuPosAccel = { static_cast<float>(_imuPos.b_positionAccel().x()), static_cast<float>(_imuPos.b_positionAccel().y()), static_cast<float>(_imuPos.b_positionAccel().z()) }; | |
| 60 | ✗ | if (ImGui::InputFloat3(fmt::format("Lever Accel [m]##{}", size_t(id)).c_str(), imuPosAccel.data())) | |
| 61 | { | ||
| 62 | ✗ | flow::ApplyChanges(); | |
| 63 | ✗ | _imuPos._b_positionAccel = Eigen::Vector3d(imuPosAccel.at(0), imuPosAccel.at(1), imuPosAccel.at(2)); | |
| 64 | } | ||
| 65 | ✗ | ImGui::SameLine(); | |
| 66 | ✗ | gui::widgets::HelpMarker("Position of the accelerometer sensor relative to the vehicle center of mass in the body coordinate frame."); | |
| 67 | |||
| 68 | ✗ | std::array<float, 3> imuPosGyro = { static_cast<float>(_imuPos.b_positionGyro().x()), static_cast<float>(_imuPos.b_positionGyro().y()), static_cast<float>(_imuPos.b_positionGyro().z()) }; | |
| 69 | ✗ | if (ImGui::InputFloat3(fmt::format("Lever Gyro [m]##{}", size_t(id)).c_str(), imuPosGyro.data())) | |
| 70 | { | ||
| 71 | ✗ | flow::ApplyChanges(); | |
| 72 | ✗ | _imuPos._b_positionGyro = Eigen::Vector3d(imuPosGyro.at(0), imuPosGyro.at(1), imuPosGyro.at(2)); | |
| 73 | } | ||
| 74 | ✗ | ImGui::SameLine(); | |
| 75 | ✗ | gui::widgets::HelpMarker("Position of the gyroscope sensor relative to the vehicle center of mass in the body coordinate frame."); | |
| 76 | |||
| 77 | ✗ | std::array<float, 3> imuPosMag = { static_cast<float>(_imuPos.b_positionMag().x()), static_cast<float>(_imuPos.b_positionMag().y()), static_cast<float>(_imuPos.b_positionMag().z()) }; | |
| 78 | ✗ | if (ImGui::InputFloat3(fmt::format("Lever Mag [m]##{}", size_t(id)).c_str(), imuPosMag.data())) | |
| 79 | { | ||
| 80 | ✗ | flow::ApplyChanges(); | |
| 81 | ✗ | _imuPos._b_positionMag = Eigen::Vector3d(imuPosMag.at(0), imuPosMag.at(1), imuPosMag.at(2)); | |
| 82 | } | ||
| 83 | ✗ | ImGui::SameLine(); | |
| 84 | ✗ | gui::widgets::HelpMarker("Position of the magnetometer sensor relative to the vehicle center of mass in the body coordinate frame."); | |
| 85 | |||
| 86 | ✗ | Eigen::Vector3d eulerAccel = rad2deg(trafo::quat2eulerZYX(_imuPos.p_quatAccel_b())); | |
| 87 | ✗ | std::array<float, 3> imuRotAccel = { static_cast<float>(eulerAccel.x()), static_cast<float>(eulerAccel.y()), static_cast<float>(eulerAccel.z()) }; | |
| 88 | ✗ | if (ImGui::InputFloat3(fmt::format("Rotation Accel [deg]##{}", size_t(id)).c_str(), imuRotAccel.data())) | |
| 89 | { | ||
| 90 | // (-180:180] x (-90:90] x (-180:180] | ||
| 91 | ✗ | imuRotAccel.at(0) = std::max(imuRotAccel.at(0), -179.9999F); | |
| 92 | ✗ | imuRotAccel.at(0) = std::min(imuRotAccel.at(0), 180.0F); | |
| 93 | ✗ | imuRotAccel.at(1) = std::max(imuRotAccel.at(1), -89.9999F); | |
| 94 | ✗ | imuRotAccel.at(1) = std::min(imuRotAccel.at(1), 90.0F); | |
| 95 | ✗ | imuRotAccel.at(2) = std::max(imuRotAccel.at(2), -179.9999F); | |
| 96 | ✗ | imuRotAccel.at(2) = std::min(imuRotAccel.at(2), 180.0F); | |
| 97 | |||
| 98 | ✗ | flow::ApplyChanges(); | |
| 99 | ✗ | _imuPos._b_quatAccel_p = trafo::b_Quat_p(deg2rad(imuRotAccel.at(0)), deg2rad(imuRotAccel.at(1)), deg2rad(imuRotAccel.at(2))); | |
| 100 | } | ||
| 101 | ✗ | ImGui::SameLine(); | |
| 102 | ✗ | TrafoHelperMarker(_imuPos.b_quatAccel_p()); | |
| 103 | |||
| 104 | ✗ | Eigen::Vector3d eulerGyro = rad2deg(trafo::quat2eulerZYX(_imuPos.p_quatGyro_b())); | |
| 105 | ✗ | std::array<float, 3> imuRotGyro = { static_cast<float>(eulerGyro.x()), static_cast<float>(eulerGyro.y()), static_cast<float>(eulerGyro.z()) }; | |
| 106 | ✗ | if (ImGui::InputFloat3(fmt::format("Rotation Gyro [deg]##{}", size_t(id)).c_str(), imuRotGyro.data())) | |
| 107 | { | ||
| 108 | // (-180:180] x (-90:90] x (-180:180] | ||
| 109 | ✗ | imuRotGyro.at(0) = std::max(imuRotGyro.at(0), -179.9999F); | |
| 110 | ✗ | imuRotGyro.at(0) = std::min(imuRotGyro.at(0), 180.0F); | |
| 111 | ✗ | imuRotGyro.at(1) = std::max(imuRotGyro.at(1), -89.9999F); | |
| 112 | ✗ | imuRotGyro.at(1) = std::min(imuRotGyro.at(1), 90.0F); | |
| 113 | ✗ | imuRotGyro.at(2) = std::max(imuRotGyro.at(2), -179.9999F); | |
| 114 | ✗ | imuRotGyro.at(2) = std::min(imuRotGyro.at(2), 180.0F); | |
| 115 | |||
| 116 | ✗ | flow::ApplyChanges(); | |
| 117 | ✗ | _imuPos._b_quatGyro_p = trafo::b_Quat_p(deg2rad(imuRotGyro.at(0)), deg2rad(imuRotGyro.at(1)), deg2rad(imuRotGyro.at(2))); | |
| 118 | } | ||
| 119 | ✗ | ImGui::SameLine(); | |
| 120 | ✗ | TrafoHelperMarker(_imuPos.b_quatGyro_p()); | |
| 121 | |||
| 122 | ✗ | Eigen::Vector3d eulerMag = rad2deg(trafo::quat2eulerZYX(_imuPos.p_quatMag_b())); | |
| 123 | ✗ | std::array<float, 3> imuRotMag = { static_cast<float>(eulerMag.x()), static_cast<float>(eulerMag.y()), static_cast<float>(eulerMag.z()) }; | |
| 124 | ✗ | if (ImGui::InputFloat3(fmt::format("Rotation Mag [deg]##{}", size_t(id)).c_str(), imuRotMag.data())) | |
| 125 | { | ||
| 126 | // (-180:180] x (-90:90] x (-180:180] | ||
| 127 | ✗ | imuRotMag.at(0) = std::max(imuRotMag.at(0), -179.9999F); | |
| 128 | ✗ | imuRotMag.at(0) = std::min(imuRotMag.at(0), 180.0F); | |
| 129 | ✗ | imuRotMag.at(1) = std::max(imuRotMag.at(1), -89.9999F); | |
| 130 | ✗ | imuRotMag.at(1) = std::min(imuRotMag.at(1), 90.0F); | |
| 131 | ✗ | imuRotMag.at(2) = std::max(imuRotMag.at(2), -179.9999F); | |
| 132 | ✗ | imuRotMag.at(2) = std::min(imuRotMag.at(2), 180.0F); | |
| 133 | |||
| 134 | ✗ | flow::ApplyChanges(); | |
| 135 | ✗ | _imuPos._b_quatMag_p = trafo::b_Quat_p(deg2rad(imuRotMag.at(0)), deg2rad(imuRotMag.at(1)), deg2rad(imuRotMag.at(2))); | |
| 136 | } | ||
| 137 | ✗ | ImGui::SameLine(); | |
| 138 | ✗ | TrafoHelperMarker(_imuPos.b_quatMag_p()); | |
| 139 | |||
| 140 | ✗ | ImGui::TreePop(); | |
| 141 | } | ||
| 142 | ✗ | } | |
| 143 | |||
| 144 | ✗ | [[nodiscard]] json NAV::Imu::save() const | |
| 145 | { | ||
| 146 | LOG_TRACE("{}: called", nameId()); | ||
| 147 | |||
| 148 | ✗ | json j; | |
| 149 | |||
| 150 | ✗ | j["imuPos"] = _imuPos; | |
| 151 | |||
| 152 | ✗ | return j; | |
| 153 | ✗ | } | |
| 154 | |||
| 155 | 54 | void NAV::Imu::restore(json const& j) | |
| 156 | { | ||
| 157 | LOG_TRACE("{}: called", nameId()); | ||
| 158 | |||
| 159 |
1/2✓ Branch 1 taken 54 times.
✗ Branch 2 not taken.
|
54 | if (j.contains("imuPos")) |
| 160 | { | ||
| 161 | 54 | j.at("imuPos").get_to(_imuPos); | |
| 162 | } | ||
| 163 | 54 | } | |
| 164 |