INSTINCT Code Coverage Report

Directory:	src/
File:	Navigation/INS/Keys.hpp
Date:	2025-06-02 15:19:59

	Total	Coverage
Lines:	45	0.0%
Functions:	1	0.0%
Branches:	66	0.0%

  
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      // This file is part of INSTINCT, the INS Toolkit for Integrated
    
      // Navigation Concepts and Training by the Institute of Navigation of
    
      // the University of Stuttgart, Germany.
    
      //
    
      // This Source Code Form is subject to the terms of the Mozilla Public
    
      // License, v. 2.0. If a copy of the MPL was not distributed with this
    
      // file, You can obtain one at https://mozilla.org/MPL/2.0/.
    
      /// @file Keys.hpp
    
      /// @brief Inertial Navigation System Keys
    
      /// @author T. Topp (topp@ins.uni-stuttgart.de)
    
      /// @date 2025-03-12
    
      #pragma once
    
      #include <array>
    
      #include <cmath>
    
      #include <iostream>
    
      #include <fmt/format.h>
    
      namespace NAV::Keys
    
      {
    
      /// Keys used in the model
    
      enum InertialNavigationKey : uint8_t
    
      {
    
          AccelBiasX, ///< Accelerometer bias X [m/s^2]
    
          AccelBiasY, ///< Accelerometer bias Y [m/s^2]
    
          AccelBiasZ, ///< Accelerometer bias Z [m/s^2]
    
          GyroBiasX,  ///< Gyroscope bias X [rad/s]
    
          GyroBiasY,  ///< Gyroscope bias Y [rad/s]
    
          GyroBiasZ,  ///< Gyroscope bias Z [rad/s]
    
          AccelScaleFactorX, ///< Accelerometer scale factor X [-]
    
          AccelScaleFactorY, ///< Accelerometer scale factor Y [-]
    
          AccelScaleFactorZ, ///< Accelerometer scale factor Z [-]
    
          GyroScaleFactorX,  ///< Gyroscope scale factor X [-]
    
          GyroScaleFactorY,  ///< Gyroscope scale factor Y [-]
    
          GyroScaleFactorZ,  ///< Gyroscope scale factor Z [-]
    
          AccelMisalignmentQ1, ///< Accelerometer misalignment quaternion x: Coefficient of i
    
          AccelMisalignmentQ2, ///< Accelerometer misalignment quaternion y: Coefficient of j
    
          AccelMisalignmentQ3, ///< Accelerometer misalignment quaternion z: Coefficient of k
    
          AccelMisalignmentQ0, ///< Accelerometer misalignment quaternion w: Real (scalar) part of the Quaternion
    
          GyroMisalignmentQ1,  ///< Gyroscope misalignment quaternion x: Coefficient of i
    
          GyroMisalignmentQ2,  ///< Gyroscope misalignment quaternion y: Coefficient of j
    
          GyroMisalignmentQ3,  ///< Gyroscope misalignment quaternion z: Coefficient of k
    
          GyroMisalignmentQ0,  ///< Gyroscope misalignment quaternion w: Real (scalar) part of the Quaternion
    
          InertialNavigationKey_COUNT, ///< Count
    
      };
    
      /// @brief All accelerometer bias keys
    
      template<typename StateKeyType>
    
      constexpr std::array<StateKeyType, 3> AccelBias = { Keys::AccelBiasX, Keys::AccelBiasY, Keys::AccelBiasZ };
    
      /// @brief All gyroscope bias keys
    
      template<typename StateKeyType>
    
      constexpr std::array<StateKeyType, 3> GyroBias = { Keys::GyroBiasX, Keys::GyroBiasY, Keys::GyroBiasZ };
    
      /// @brief All accelerometer scale factor keys
    
      template<typename StateKeyType>
    
      constexpr std::array<StateKeyType, 3> AccelScaleFactor = { Keys::AccelScaleFactorX, Keys::AccelScaleFactorY, Keys::AccelScaleFactorZ };
    
      /// @brief All gyroscope scale factor keys
    
      template<typename StateKeyType>
    
      constexpr std::array<StateKeyType, 3> GyroScaleFactor = { Keys::GyroScaleFactorX, Keys::GyroScaleFactorY, Keys::GyroScaleFactorZ };
    
      /// @brief All accelerometer misalignment quaternion keys
    
      template<typename StateKeyType>
    
      constexpr std::array<StateKeyType, 4> AccelMisalignment = { Keys::AccelMisalignmentQ1, Keys::AccelMisalignmentQ2, Keys::AccelMisalignmentQ3, Keys::AccelMisalignmentQ0 };
    
      /// @brief All gyroscope misalignment quaternion keys
    
      template<typename StateKeyType>
    
      constexpr std::array<StateKeyType, 4> GyroMisalignment = { Keys::GyroMisalignmentQ1, Keys::GyroMisalignmentQ2, Keys::GyroMisalignmentQ3, Keys::GyroMisalignmentQ0 };
    
      } // namespace NAV::Keys
    
      /// @brief Stream insertion operator overload
    
      /// @param[in, out] os Output stream object to stream the time into
    
      /// @param[in] obj Object to print
    
      /// @return Returns the output stream object in order to chain stream insertions
    
      std::ostream& operator<<(std::ostream& os, const NAV::Keys::InertialNavigationKey& obj);
    
      #ifndef DOXYGEN_IGNORE
    
      /// @brief Formatter
    
      template<>
    
      struct fmt::formatter<NAV::Keys::InertialNavigationKey> : fmt::formatter<const char*>
    
      {
    
          /// @brief Defines how to format structs
    
          /// @param[in] state Struct to format
    
          /// @param[in, out] ctx Format context
    
          /// @return Output iterator
    
          template<typename FormatContext>
    
      ✗
          auto format(const NAV::Keys::InertialNavigationKey& state, FormatContext& ctx) const
    
          {
    
              using namespace NAV::Keys; // NOLINT(google-build-using-namespace)
    
      ✗
              switch (state)
    
              {
    
      ✗
              case AccelBiasX:
    
      ✗
                  return fmt::formatter<const char*>::format("AccelBiasX", ctx);
    
      ✗
              case AccelBiasY:
    
      ✗
                  return fmt::formatter<const char*>::format("AccelBiasY", ctx);
    
      ✗
              case AccelBiasZ:
    
      ✗
                  return fmt::formatter<const char*>::format("AccelBiasZ", ctx);
    
      ✗
              case GyroBiasX:
    
      ✗
                  return fmt::formatter<const char*>::format("GyroBiasX", ctx);
    
      ✗
              case GyroBiasY:
    
      ✗
                  return fmt::formatter<const char*>::format("GyroBiasY", ctx);
    
      ✗
              case GyroBiasZ:
    
      ✗
                  return fmt::formatter<const char*>::format("GyroBiasZ", ctx);
    
      ✗
              case AccelScaleFactorX:
    
      ✗
                  return fmt::formatter<const char*>::format("AccelScaleFactorX", ctx);
    
      ✗
              case AccelScaleFactorY:
    
      ✗
                  return fmt::formatter<const char*>::format("AccelScaleFactorY", ctx);
    
      ✗
              case AccelScaleFactorZ:
    
      ✗
                  return fmt::formatter<const char*>::format("AccelScaleFactorZ", ctx);
    
      ✗
              case GyroScaleFactorX:
    
      ✗
                  return fmt::formatter<const char*>::format("GyroScaleFactorX", ctx);
    
      ✗
              case GyroScaleFactorY:
    
      ✗
                  return fmt::formatter<const char*>::format("GyroScaleFactorY", ctx);
    
      ✗
              case GyroScaleFactorZ:
    
      ✗
                  return fmt::formatter<const char*>::format("GyroScaleFactorZ", ctx);
    
      ✗
              case AccelMisalignmentQ1:
    
      ✗
                  return fmt::formatter<const char*>::format("AccelMisalignmentQ1", ctx);
    
      ✗
              case AccelMisalignmentQ2:
    
      ✗
                  return fmt::formatter<const char*>::format("AccelMisalignmentQ2", ctx);
    
      ✗
              case AccelMisalignmentQ3:
    
      ✗
                  return fmt::formatter<const char*>::format("AccelMisalignmentQ3", ctx);
    
      ✗
              case AccelMisalignmentQ0:
    
      ✗
                  return fmt::formatter<const char*>::format("AccelMisalignmentQ0", ctx);
    
      ✗
              case GyroMisalignmentQ1:
    
      ✗
                  return fmt::formatter<const char*>::format("GyroMisalignmentQ1", ctx);
    
      ✗
              case GyroMisalignmentQ2:
    
      ✗
                  return fmt::formatter<const char*>::format("GyroMisalignmentQ2", ctx);
    
      ✗
              case GyroMisalignmentQ3:
    
      ✗
                  return fmt::formatter<const char*>::format("GyroMisalignmentQ3", ctx);
    
      ✗
              case GyroMisalignmentQ0:
    
      ✗
                  return fmt::formatter<const char*>::format("GyroMisalignmentQ0", ctx);
    
      ✗
              case InertialNavigationKey_COUNT:
    
      ✗
                  return fmt::formatter<const char*>::format("InertialNavigationKey_COUNT", ctx);
    
              }
    
      ✗
              return fmt::formatter<const char*>::format("ERROR", ctx);
    
          }
    
      };
    
      #endif

Line	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 Keys.hpp
10		/// @brief Inertial Navigation System Keys
11		/// @author T. Topp (topp@ins.uni-stuttgart.de)
12		/// @date 2025-03-12
13
14		#pragma once
15
16		#include <array>
17		#include <cmath>
18		#include <iostream>
19		#include <fmt/format.h>
20
21		namespace NAV::Keys
22		{
23
24		/// Keys used in the model
25		enum InertialNavigationKey : uint8_t
26		{
27		AccelBiasX, ///< Accelerometer bias X [m/s^2]
28		AccelBiasY, ///< Accelerometer bias Y [m/s^2]
29		AccelBiasZ, ///< Accelerometer bias Z [m/s^2]
30		GyroBiasX, ///< Gyroscope bias X [rad/s]
31		GyroBiasY, ///< Gyroscope bias Y [rad/s]
32		GyroBiasZ, ///< Gyroscope bias Z [rad/s]
33
34		AccelScaleFactorX, ///< Accelerometer scale factor X [-]
35		AccelScaleFactorY, ///< Accelerometer scale factor Y [-]
36		AccelScaleFactorZ, ///< Accelerometer scale factor Z [-]
37		GyroScaleFactorX, ///< Gyroscope scale factor X [-]
38		GyroScaleFactorY, ///< Gyroscope scale factor Y [-]
39		GyroScaleFactorZ, ///< Gyroscope scale factor Z [-]
40
41		AccelMisalignmentQ1, ///< Accelerometer misalignment quaternion x: Coefficient of i
42		AccelMisalignmentQ2, ///< Accelerometer misalignment quaternion y: Coefficient of j
43		AccelMisalignmentQ3, ///< Accelerometer misalignment quaternion z: Coefficient of k
44		AccelMisalignmentQ0, ///< Accelerometer misalignment quaternion w: Real (scalar) part of the Quaternion
45		GyroMisalignmentQ1, ///< Gyroscope misalignment quaternion x: Coefficient of i
46		GyroMisalignmentQ2, ///< Gyroscope misalignment quaternion y: Coefficient of j
47		GyroMisalignmentQ3, ///< Gyroscope misalignment quaternion z: Coefficient of k
48		GyroMisalignmentQ0, ///< Gyroscope misalignment quaternion w: Real (scalar) part of the Quaternion
49
50		InertialNavigationKey_COUNT, ///< Count
51		};
52
53		/// @brief All accelerometer bias keys
54		template<typename StateKeyType>
55		constexpr std::array<StateKeyType, 3> AccelBias = { Keys::AccelBiasX, Keys::AccelBiasY, Keys::AccelBiasZ };
56		/// @brief All gyroscope bias keys
57		template<typename StateKeyType>
58		constexpr std::array<StateKeyType, 3> GyroBias = { Keys::GyroBiasX, Keys::GyroBiasY, Keys::GyroBiasZ };
59
60		/// @brief All accelerometer scale factor keys
61		template<typename StateKeyType>
62		constexpr std::array<StateKeyType, 3> AccelScaleFactor = { Keys::AccelScaleFactorX, Keys::AccelScaleFactorY, Keys::AccelScaleFactorZ };
63		/// @brief All gyroscope scale factor keys
64		template<typename StateKeyType>
65		constexpr std::array<StateKeyType, 3> GyroScaleFactor = { Keys::GyroScaleFactorX, Keys::GyroScaleFactorY, Keys::GyroScaleFactorZ };
66
67		/// @brief All accelerometer misalignment quaternion keys
68		template<typename StateKeyType>
69		constexpr std::array<StateKeyType, 4> AccelMisalignment = { Keys::AccelMisalignmentQ1, Keys::AccelMisalignmentQ2, Keys::AccelMisalignmentQ3, Keys::AccelMisalignmentQ0 };
70		/// @brief All gyroscope misalignment quaternion keys
71		template<typename StateKeyType>
72		constexpr std::array<StateKeyType, 4> GyroMisalignment = { Keys::GyroMisalignmentQ1, Keys::GyroMisalignmentQ2, Keys::GyroMisalignmentQ3, Keys::GyroMisalignmentQ0 };
73
74		} // namespace NAV::Keys
75
76		/// @brief Stream insertion operator overload
77		/// @param[in, out] os Output stream object to stream the time into
78		/// @param[in] obj Object to print
79		/// @return Returns the output stream object in order to chain stream insertions
80		std::ostream& operator<<(std::ostream& os, const NAV::Keys::InertialNavigationKey& obj);
81
82		#ifndef DOXYGEN_IGNORE
83
84		/// @brief Formatter
85		template<>
86		struct fmt::formatter<NAV::Keys::InertialNavigationKey> : fmt::formatter<const char*>
87		{
88		/// @brief Defines how to format structs
89		/// @param[in] state Struct to format
90		/// @param[in, out] ctx Format context
91		/// @return Output iterator
92		template<typename FormatContext>
93	✗	auto format(const NAV::Keys::InertialNavigationKey& state, FormatContext& ctx) const
94		{
95		using namespace NAV::Keys; // NOLINT(google-build-using-namespace)
96
97	✗	switch (state)
98		{
99	✗	case AccelBiasX:
100	✗	return fmt::formatter<const char*>::format("AccelBiasX", ctx);
101	✗	case AccelBiasY:
102	✗	return fmt::formatter<const char*>::format("AccelBiasY", ctx);
103	✗	case AccelBiasZ:
104	✗	return fmt::formatter<const char*>::format("AccelBiasZ", ctx);
105	✗	case GyroBiasX:
106	✗	return fmt::formatter<const char*>::format("GyroBiasX", ctx);
107	✗	case GyroBiasY:
108	✗	return fmt::formatter<const char*>::format("GyroBiasY", ctx);
109	✗	case GyroBiasZ:
110	✗	return fmt::formatter<const char*>::format("GyroBiasZ", ctx);
111	✗	case AccelScaleFactorX:
112	✗	return fmt::formatter<const char*>::format("AccelScaleFactorX", ctx);
113	✗	case AccelScaleFactorY:
114	✗	return fmt::formatter<const char*>::format("AccelScaleFactorY", ctx);
115	✗	case AccelScaleFactorZ:
116	✗	return fmt::formatter<const char*>::format("AccelScaleFactorZ", ctx);
117	✗	case GyroScaleFactorX:
118	✗	return fmt::formatter<const char*>::format("GyroScaleFactorX", ctx);
119	✗	case GyroScaleFactorY:
120	✗	return fmt::formatter<const char*>::format("GyroScaleFactorY", ctx);
121	✗	case GyroScaleFactorZ:
122	✗	return fmt::formatter<const char*>::format("GyroScaleFactorZ", ctx);
123	✗	case AccelMisalignmentQ1:
124	✗	return fmt::formatter<const char*>::format("AccelMisalignmentQ1", ctx);
125	✗	case AccelMisalignmentQ2:
126	✗	return fmt::formatter<const char*>::format("AccelMisalignmentQ2", ctx);
127	✗	case AccelMisalignmentQ3:
128	✗	return fmt::formatter<const char*>::format("AccelMisalignmentQ3", ctx);
129	✗	case AccelMisalignmentQ0:
130	✗	return fmt::formatter<const char*>::format("AccelMisalignmentQ0", ctx);
131	✗	case GyroMisalignmentQ1:
132	✗	return fmt::formatter<const char*>::format("GyroMisalignmentQ1", ctx);
133	✗	case GyroMisalignmentQ2:
134	✗	return fmt::formatter<const char*>::format("GyroMisalignmentQ2", ctx);
135	✗	case GyroMisalignmentQ3:
136	✗	return fmt::formatter<const char*>::format("GyroMisalignmentQ3", ctx);
137	✗	case GyroMisalignmentQ0:
138	✗	return fmt::formatter<const char*>::format("GyroMisalignmentQ0", ctx);
139	✗	case InertialNavigationKey_COUNT:
140	✗	return fmt::formatter<const char*>::format("InertialNavigationKey_COUNT", ctx);
141		}
142
143	✗	return fmt::formatter<const char*>::format("ERROR", ctx);
144		}
145		};
146
147		#endif
148