INSTINCT Code Coverage Report

Directory: src/
File: NodeData/IMU/ImuObsWDelta.hpp
Date: 2025-02-07 16:54:41
Exec Total Coverage
Lines: 17 70 24.3%
Functions: 4 10 40.0%
Branches: 13 62 21.0%
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 /// @file ImuObsWDelta.hpp
10 /// @brief Data storage class for one VectorNavImu observation
11 /// @author T. Topp (topp@ins.uni-stuttgart.de)
12 /// @date 2020-03-12
13
14 #pragma once
15
16 #include "ImuObs.hpp"
17 #include "Navigation/Transformations/Units.hpp"
18
19 namespace NAV
20 {
21 /// VectorNav Observation storage Class
22 class ImuObsWDelta : public ImuObs
23 {
24 public:
25 /// @brief Constructor
26 /// @param[in] imuPos Reference to the position and rotation info of the Imu
27 60990 explicit ImuObsWDelta(const ImuPos& imuPos)
28
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 60990 : ImuObs(imuPos) {}
29
30 /// @brief Returns the type of the data class
31 /// @return The data type
32 27248 [[nodiscard]] static std::string type()
33 {
34
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 54496 return "ImuObsWDelta";
35 }
36
37 /// @brief Returns the type of the data class
38 /// @return The data type
39 ✗ [[nodiscard]] std::string getType() const override { return type(); }
40
41 /// @brief Returns the parent types of the data class
42 /// @return The parent data types
43 224 [[nodiscard]] static std::vector<std::string> parentTypes()
44 {
45
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 672 return { ImuObs::type() };
46 224 }
47
48 /// @brief Returns a vector of data descriptors
49 4 [[nodiscard]] static std::vector<std::string> GetStaticDataDescriptors()
50 {
51 4 auto desc = ImuObs::GetStaticDataDescriptors();
52
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 4 desc.emplace_back("dTime [s]");
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 4 desc.emplace_back("dTheta X [deg]");
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 4 desc.emplace_back("dTheta Y [deg]");
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 4 desc.emplace_back("dTheta Z [deg]");
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 4 desc.emplace_back("dVelocity X [m/s]");
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 4 desc.emplace_back("dVelocity Y [m/s]");
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 4 desc.emplace_back("dVelocity Z [m/s]");
59 4 return desc;
60 ✗ }
61
62 /// @brief Get the amount of descriptors
63 ✗ [[nodiscard]] static constexpr size_t GetStaticDescriptorCount() { return ImuObs::GetStaticDescriptorCount() + 7; }
64
65 /// @brief Returns a vector of data descriptors
66 ✗ [[nodiscard]] std::vector<std::string> staticDataDescriptors() const override { return GetStaticDataDescriptors(); }
67
68 /// @brief Get the amount of descriptors
69 ✗ [[nodiscard]] size_t staticDescriptorCount() const override { return GetStaticDescriptorCount(); }
70
71 /// @brief Get the value at the index
72 /// @param idx Index corresponding to data descriptor order
73 /// @return Value if in the observation
74 ✗ [[nodiscard]] std::optional<double> getValueAt(size_t idx) const override
75 {
76 ✗ INS_ASSERT(idx < GetStaticDescriptorCount());
77 ✗ if (idx < ImuObs::GetStaticDescriptorCount()) { return ImuObs::getValueAt(idx); }
78 ✗ switch (idx)
79 {
80 ✗ case ImuObs::GetStaticDescriptorCount() + 0: // dTime [s]
81 ✗ return dtime;
82 ✗ case ImuObs::GetStaticDescriptorCount() + 1: // dTheta X [deg]
83 ✗ return rad2deg(dtheta.x());
84 ✗ case ImuObs::GetStaticDescriptorCount() + 2: // dTheta Y [deg]
85 ✗ return rad2deg(dtheta.y());
86 ✗ case ImuObs::GetStaticDescriptorCount() + 3: // dTheta Z [deg]
87 ✗ return rad2deg(dtheta.z());
88 ✗ case ImuObs::GetStaticDescriptorCount() + 4: // dVelocity X [m/s]
89 ✗ return dvel.x();
90 ✗ case ImuObs::GetStaticDescriptorCount() + 5: // dVelocity Y [m/s]
91 ✗ return dvel.y();
92 ✗ case ImuObs::GetStaticDescriptorCount() + 6: // dVelocity Z [m/s]
93 ✗ return dvel.z();
94 ✗ default:
95 ✗ return std::nullopt;
96 }
97 return std::nullopt;
98 }
99
100 /// @brief Set the value at the index
101 /// @param idx Index corresponding to data descriptor order
102 /// @param value Value to set
103 /// @return True if the value was updated
104 ✗ [[nodiscard]] bool setValueAt(size_t idx, double value) override
105 {
106 ✗ INS_ASSERT(idx < GetStaticDescriptorCount());
107 ✗ if (idx < ImuObs::GetStaticDescriptorCount()) { return ImuObs::setValueAt(idx, value); }
108 ✗ switch (idx)
109 {
110 ✗ case ImuObs::GetStaticDescriptorCount() + 0: // dTime [s]
111 ✗ dtime = value;
112 ✗ break;
113 ✗ case ImuObs::GetStaticDescriptorCount() + 1: // dTheta X [deg]
114 ✗ dtheta.x() = deg2rad(value);
115 ✗ break;
116 ✗ case ImuObs::GetStaticDescriptorCount() + 2: // dTheta Y [deg]
117 ✗ dtheta.y() = deg2rad(value);
118 ✗ break;
119 ✗ case ImuObs::GetStaticDescriptorCount() + 3: // dTheta Z [deg]
120 ✗ dtheta.z() = deg2rad(value);
121 ✗ break;
122 ✗ case ImuObs::GetStaticDescriptorCount() + 4: // dVelocity X [m/s]
123 ✗ dvel.x() = value;
124 ✗ break;
125 ✗ case ImuObs::GetStaticDescriptorCount() + 5: // dVelocity Y [m/s]
126 ✗ dvel.y() = value;
127 ✗ break;
128 ✗ case ImuObs::GetStaticDescriptorCount() + 6: // dVelocity Z [m/s]
129 ✗ dvel.z() = value;
130 ✗ break;
131 ✗ default:
132 ✗ return false;
133 }
134
135 ✗ return true;
136 }
137
138 /// The time interval that the delta angle and velocities are integrated over in [seconds].
139 double dtime = 0.0;
140 /// The delta rotation angles in [rad] incurred due to rotation, by the local platform reference frame,
141 /// since the last time the values were outputted by the device.
142 Eigen::Vector3d dtheta;
143 /// The delta velocity in [m/s] incurred due to motion, by the local platform reference frame,
144 /// since the last time the values were outputted by the device.
145 Eigen::Vector3d dvel;
146 };
147
148 } // namespace NAV
149