| 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 ImuPos.hpp | ||
| 10 | /// @brief Imu Position Data | ||
| 11 | /// @author T. Topp (topp@ins.uni-stuttgart.de) | ||
| 12 | /// @date 2020-09-11 | ||
| 13 | |||
| 14 | #pragma once | ||
| 15 | |||
| 16 | #include "util/Eigen.hpp" | ||
| 17 | |||
| 18 | namespace NAV | ||
| 19 | { | ||
| 20 | // Forward declarations | ||
| 21 | class Imu; | ||
| 22 | class MultiImuFile; | ||
| 23 | |||
| 24 | /// IMU Position | ||
| 25 | class ImuPos | ||
| 26 | { | ||
| 27 | public: | ||
| 28 | /// IMU position in body frame coordinates in [m] | ||
| 29 | 26813 | [[nodiscard]] const Eigen::Vector3d& b_positionIMU_p() const | |
| 30 | { | ||
| 31 | 26813 | return _b_positionIMU_p; | |
| 32 | } | ||
| 33 | |||
| 34 | /// Quaternion from IMU platform frame to body frame | ||
| 35 | 328368 | [[nodiscard]] const Eigen::Quaterniond& b_quat_p() const | |
| 36 | { | ||
| 37 | 328368 | return _b_quat_p; | |
| 38 | } | ||
| 39 | /// Quaternion from body frame to IMU platform frame | ||
| 40 | 5721067 | [[nodiscard]] Eigen::Quaterniond p_quat_b() const | |
| 41 | { | ||
| 42 | 5721067 | return _b_quat_p.conjugate(); | |
| 43 | } | ||
| 44 | |||
| 45 | private: | ||
| 46 | /// IMU position in body frame coordinates in [m] | ||
| 47 | Eigen::Vector3d _b_positionIMU_p = Eigen::Vector3d::Zero(); | ||
| 48 | |||
| 49 | /// Quaternion from IMU platform frame to body frame | ||
| 50 | Eigen::Quaterniond _b_quat_p = Eigen::Quaterniond::Identity(); | ||
| 51 | |||
| 52 | friend class Imu; | ||
| 53 | friend class MultiImuFile; | ||
| 54 | friend void from_json(const json& j, ImuPos& pos); | ||
| 55 | }; | ||
| 56 | |||
| 57 | /// @brief Write info to a json object | ||
| 58 | /// @param[out] j Json output | ||
| 59 | /// @param[in] pos Object to read info from | ||
| 60 | void to_json(json& j, const ImuPos& pos); | ||
| 61 | /// @brief Read info from a json object | ||
| 62 | /// @param[in] j Json variable to read info from | ||
| 63 | /// @param[out] pos Output object | ||
| 64 | void from_json(const json& j, ImuPos& pos); | ||
| 65 | |||
| 66 | } // namespace NAV | ||
| 67 |