| 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 | /// Accelerometer position in body frame coordinates in [m] | ||
| 29 | ✗ | [[nodiscard]] const Eigen::Vector3d& b_positionAccel() const | |
| 30 | { | ||
| 31 | ✗ | return _b_positionAccel; | |
| 32 | } | ||
| 33 | /// Gyroscope position in body frame coordinates in [m] | ||
| 34 | ✗ | [[nodiscard]] const Eigen::Vector3d& b_positionGyro() const | |
| 35 | { | ||
| 36 | ✗ | return _b_positionGyro; | |
| 37 | } | ||
| 38 | /// Magnetometer position in body frame coordinates in [m] | ||
| 39 | ✗ | [[nodiscard]] const Eigen::Vector3d& b_positionMag() const | |
| 40 | { | ||
| 41 | ✗ | return _b_positionMag; | |
| 42 | } | ||
| 43 | |||
| 44 | /// Quaternion from accelerometer platform frame to body frame | ||
| 45 | 177346 | [[nodiscard]] const Eigen::Quaterniond& b_quatAccel_p() const | |
| 46 | { | ||
| 47 | 177346 | return _b_quatAccel_p; | |
| 48 | } | ||
| 49 | /// Quaternion from body frame to accelerometer platform frame | ||
| 50 | 2890774 | [[nodiscard]] Eigen::Quaterniond p_quatAccel_b() const | |
| 51 | { | ||
| 52 | 2890774 | return _b_quatAccel_p.conjugate(); | |
| 53 | } | ||
| 54 | |||
| 55 | /// Quaternion from gyroscope platform frame to body frame | ||
| 56 | 154162 | [[nodiscard]] const Eigen::Quaterniond& b_quatGyro_p() const | |
| 57 | { | ||
| 58 | 154162 | return _b_quatGyro_p; | |
| 59 | } | ||
| 60 | /// Quaternion from body frame to gyroscope platform frame | ||
| 61 | 2892811 | [[nodiscard]] Eigen::Quaterniond p_quatGyro_b() const | |
| 62 | { | ||
| 63 | 2892811 | return _b_quatGyro_p.conjugate(); | |
| 64 | } | ||
| 65 | |||
| 66 | /// Quaternion from magnetometer platform frame to body frame | ||
| 67 | ✗ | [[nodiscard]] const Eigen::Quaterniond& b_quatMag_p() const | |
| 68 | { | ||
| 69 | ✗ | return _b_quatMag_p; | |
| 70 | } | ||
| 71 | /// Quaternion from body frame to magnetometer platform frame | ||
| 72 | ✗ | [[nodiscard]] Eigen::Quaterniond p_quatMag_b() const | |
| 73 | { | ||
| 74 | ✗ | return _b_quatMag_p.conjugate(); | |
| 75 | } | ||
| 76 | |||
| 77 | private: | ||
| 78 | /// Accelerometer position in body frame coordinates in [m] | ||
| 79 | Eigen::Vector3d _b_positionAccel = { 0, 0, 0 }; | ||
| 80 | /// Gyroscope position in body frame coordinates in [m] | ||
| 81 | Eigen::Vector3d _b_positionGyro = { 0, 0, 0 }; | ||
| 82 | /// Magnetometer position in body frame coordinates in [m] | ||
| 83 | Eigen::Vector3d _b_positionMag = { 0, 0, 0 }; | ||
| 84 | |||
| 85 | /// Quaternion from accelerometer platform frame to body frame | ||
| 86 | Eigen::Quaterniond _b_quatAccel_p = Eigen::Quaterniond::Identity(); | ||
| 87 | /// Quaternion from gyroscope platform frame to body frame | ||
| 88 | Eigen::Quaterniond _b_quatGyro_p = { 1, 0, 0, 0 }; | ||
| 89 | /// Quaternion from magnetometer platform frame to body frame | ||
| 90 | Eigen::Quaterniond _b_quatMag_p = { 1, 0, 0, 0 }; | ||
| 91 | |||
| 92 | friend class Imu; | ||
| 93 | friend class MultiImuFile; | ||
| 94 | friend void from_json(const json& j, ImuPos& pos); | ||
| 95 | }; | ||
| 96 | |||
| 97 | /// @brief Write info to a json object | ||
| 98 | /// @param[out] j Json output | ||
| 99 | /// @param[in] pos Object to read info from | ||
| 100 | void to_json(json& j, const ImuPos& pos); | ||
| 101 | /// @brief Read info from a json object | ||
| 102 | /// @param[in] j Json variable to read info from | ||
| 103 | /// @param[out] pos Output object | ||
| 104 | void from_json(const json& j, ImuPos& pos); | ||
| 105 | |||
| 106 | } // namespace NAV | ||
| 107 |