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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 | #include "ImuPos.hpp" | ||
| 10 | |||
| 11 | #include <nlohmann/json.hpp> | ||
| 12 | using json = nlohmann::json; ///< json namespace | ||
| 13 | |||
| 14 | namespace NAV | ||
| 15 | { | ||
| 16 | /// @brief Converts the provided imu position into a json object | ||
| 17 | /// @param[out] j Json object which gets filled with the info | ||
| 18 | /// @param[in] pos Imu position to convert into json | ||
| 19 | ✗ | void to_json(json& j, const ImuPos& pos) | |
| 20 | { | ||
| 21 | ✗ | j = json{ | |
| 22 | ✗ | { "b_positionAccel", pos.b_positionAccel() }, | |
| 23 | ✗ | { "b_positionGyro", pos.b_positionGyro() }, | |
| 24 | ✗ | { "b_positionMag", pos.b_positionMag() }, | |
| 25 | ✗ | { "b_quatAccel_p", pos.b_quatAccel_p().coeffs() }, | |
| 26 | ✗ | { "b_quatGyro_p", pos.b_quatGyro_p().coeffs() }, | |
| 27 | ✗ | { "b_quatMag_p", pos.b_quatMag_p().coeffs() }, | |
| 28 | ✗ | }; | |
| 29 | ✗ | } | |
| 30 | /// @brief Converts the provided json object into a imu position object | ||
| 31 | /// @param[in] j Json object with the needed values | ||
| 32 | /// @param[out] pos Object to fill from the json | ||
| 33 | 64 | void from_json(const json& j, ImuPos& pos) | |
| 34 | { | ||
| 35 |
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64 | if (j.contains("b_positionAccel")) |
| 36 | { | ||
| 37 | 64 | j.at("b_positionAccel").get_to(pos._b_positionAccel); | |
| 38 | } | ||
| 39 |
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64 | if (j.contains("b_positionGyro")) |
| 40 | { | ||
| 41 | 64 | j.at("b_positionGyro").get_to(pos._b_positionGyro); | |
| 42 | } | ||
| 43 |
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64 | if (j.contains("b_positionMag")) |
| 44 | { | ||
| 45 | 64 | j.at("b_positionMag").get_to(pos._b_positionMag); | |
| 46 | } | ||
| 47 |
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64 | if (j.contains("b_quatAccel_p")) |
| 48 | { | ||
| 49 | 64 | j.at("b_quatAccel_p").get_to(pos._b_quatAccel_p.coeffs()); | |
| 50 | } | ||
| 51 |
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64 | if (j.contains("b_quatGyro_p")) |
| 52 | { | ||
| 53 | 64 | j.at("b_quatGyro_p").get_to(pos._b_quatGyro_p.coeffs()); | |
| 54 | } | ||
| 55 |
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64 | if (j.contains("b_quatMag_p")) |
| 56 | { | ||
| 57 | 64 | j.at("b_quatMag_p").get_to(pos._b_quatMag_p.coeffs()); | |
| 58 | } | ||
| 59 | 64 | } | |
| 60 | |||
| 61 | } // namespace NAV | ||
| 62 |