| 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 | #include "MeasurementErrors.hpp" | ||
| 10 | |||
| 11 | #include <limits> | ||
| 12 | #include <implot.h> | ||
| 13 | #include <fmt/format.h> | ||
| 14 | |||
| 15 | #include "internal/gui/widgets/EnumCombo.hpp" | ||
| 16 | #include "internal/gui/widgets/imgui_ex.hpp" | ||
| 17 | #include "internal/gui/widgets/InputWithUnit.hpp" | ||
| 18 | #include "internal/gui/NodeEditorApplication.hpp" | ||
| 19 | |||
| 20 | #include "Navigation/GNSS/Functions.hpp" | ||
| 21 | |||
| 22 | #include "util/Logger.hpp" | ||
| 23 | |||
| 24 | namespace NAV | ||
| 25 | { | ||
| 26 | |||
| 27 |
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480 | GnssMeasurementErrorModel::GnssMeasurementErrorModel() |
| 28 | { | ||
| 29 |
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1080 | for (size_t i = 0; i < Model::COUNT; i++) |
| 30 | { | ||
| 31 |
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960 | updateStdDevCurvePlot(static_cast<Model>(i)); |
| 32 | } | ||
| 33 | 120 | } | |
| 34 | |||
| 35 | 41798 | double GnssMeasurementErrorModel::psrMeasErrorVar(const SatelliteSystem& satSys, double elevation, double cn0) const | |
| 36 | { | ||
| 37 | 41798 | return satSysErrorFactorVariance(satSys) * std::pow(_codeStdDev * weightingFunction(_model, elevation, cn0), 2.0); | |
| 38 | } | ||
| 39 | |||
| 40 | ✗ | double GnssMeasurementErrorModel::carrierMeasErrorVar(const SatelliteSystem& satSys, double elevation, double cn0) const | |
| 41 | { | ||
| 42 | ✗ | return satSysErrorFactorVariance(satSys) * std::pow(_carrierStdDev * weightingFunction(_model, elevation, cn0), 2.0); | |
| 43 | } | ||
| 44 | |||
| 45 | 40922 | double GnssMeasurementErrorModel::psrRateMeasErrorVar(const Frequency& freq, int8_t num, double elevation, double cn0) const | |
| 46 | { | ||
| 47 | 40922 | double psrRateMeasStdDev = doppler2rangeRate(_dopplerStdDev, freq, num); | |
| 48 |
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40922 | return satSysErrorFactorVariance(freq.getSatSys()) * std::pow(psrRateMeasStdDev * weightingFunction(_model, elevation, cn0), 2.0); |
| 49 | } | ||
| 50 | |||
| 51 | 41798 | double GnssMeasurementErrorModel::codeBiasErrorVar() const // NOLINT(readability-convert-member-functions-to-static) | |
| 52 | { | ||
| 53 | // Rtklib model, as no other available | ||
| 54 | |||
| 55 | 41798 | constexpr double ERR_CBIAS = 0.3; // Code bias error Std [m] | |
| 56 | 41798 | return std::pow(ERR_CBIAS, 2); | |
| 57 | } | ||
| 58 | |||
| 59 | 82720 | double GnssMeasurementErrorModel::satSysErrorFactorVariance(const SatelliteSystem& satSys) | |
| 60 | { | ||
| 61 | 82720 | double satSysErrFactor = 1.0; | |
| 62 |
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82720 | switch (static_cast<SatelliteSystem_>(satSys)) |
| 63 | { | ||
| 64 | 82720 | case GPS: | |
| 65 | case GAL: | ||
| 66 | case BDS: | ||
| 67 | case QZSS: | ||
| 68 | 82720 | satSysErrFactor = 1.0; | |
| 69 | 82720 | break; | |
| 70 | ✗ | case GLO: | |
| 71 | case IRNSS: | ||
| 72 | ✗ | satSysErrFactor = 1.5; | |
| 73 | ✗ | break; | |
| 74 | ✗ | case SBAS: | |
| 75 | ✗ | satSysErrFactor = 3.0; | |
| 76 | ✗ | break; | |
| 77 | ✗ | case SatSys_None: | |
| 78 | ✗ | break; | |
| 79 | } | ||
| 80 | 82720 | return std::pow(satSysErrFactor, 2); | |
| 81 | } | ||
| 82 | |||
| 83 | 8723680 | double GnssMeasurementErrorModel::weightingFunction(Model model, double elevation, double cn0) const | |
| 84 | { | ||
| 85 |
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8723680 | if (std::isnan(elevation)) { return 1.0; } |
| 86 | 8723680 | elevation = std::max(elevation, deg2rad(0.1)); | |
| 87 |
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8723680 | switch (model) |
| 88 | { | ||
| 89 | 1084500 | case Model::SINE: | |
| 90 | 1084500 | return _modelParametersSine.a / std::sin(elevation); | |
| 91 | 1080120 | case Model::SINE_OFFSET: | |
| 92 | 1080120 | return _modelParametersSineOffset.a + _modelParametersSineOffset.b / std::sin(elevation); | |
| 93 | 1080120 | case Model::SINE_CN0: | |
| 94 | 1080120 | cn0 = std::pow(10, cn0 / 10); // See Groves, ch 9.1.4.3, eq. 9.22, p. 363 | |
| 95 | 1080120 | return _modelParametersSineCN0.a / std::sin(elevation) * (_modelParametersSineCN0.b + _modelParametersSineCN0.c / std::sqrt(cn0)); | |
| 96 | 1158460 | case Model::RTKLIB: | |
| 97 | 1158460 | elevation = std::max(elevation, deg2rad(5.0)); | |
| 98 | 1158460 | return std::sqrt(std::pow(_modelParametersRtklib.a, 2) + std::pow(_modelParametersRtklib.b / std::sin(elevation), 2)); | |
| 99 | 1080120 | case Model::SINE_SQRT: | |
| 100 | 1080120 | return std::sqrt(std::pow(_modelParametersSineSqrt.a, 2) + std::pow(_modelParametersSineSqrt.b, 2) / std::pow(std::sin(elevation), 2)); | |
| 101 | 1080120 | case Model::EXPONENTIAL: | |
| 102 | 1080120 | return _modelParametersExponential.a + _modelParametersExponential.b * std::exp(-elevation / deg2rad(_modelParametersExponential.e0)); | |
| 103 | 1080120 | case Model::COSINE_TYPE: | |
| 104 | 1080120 | return std::sqrt(_modelParametersCosineType.a + _modelParametersCosineType.b * std::pow(std::cos(elevation), _modelParametersCosineType.n)); | |
| 105 | 1080120 | case Model::None: | |
| 106 | case Model::COUNT: | ||
| 107 | 1080120 | break; | |
| 108 | } | ||
| 109 | 1080120 | return 1.0; | |
| 110 | } | ||
| 111 | |||
| 112 | 960 | void GnssMeasurementErrorModel::updateStdDevCurvePlot(Model model) | |
| 113 | { | ||
| 114 |
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8642880 | for (size_t i = 0; i < _elevation.size(); ++i) |
| 115 | { | ||
| 116 | 8640960 | _stdDevCurvePlot.at(static_cast<size_t>(model)).at(i) = weightingFunction(model, _elevation.at(i), _plotCN0); | |
| 117 | } | ||
| 118 | 960 | } | |
| 119 | |||
| 120 | ✗ | bool GnssMeasurementErrorModel::ShowGuiWidgets(const char* id, float width) | |
| 121 | { | ||
| 122 | ✗ | const float UNIT_WIDTH = 100.0F * gui::NodeEditorApplication::windowFontRatio(); | |
| 123 | ✗ | const float BUTTON_WIDTH = 25.0F * gui::NodeEditorApplication::windowFontRatio(); | |
| 124 | |||
| 125 | ✗ | ImGui::SetNextItemWidth(width - BUTTON_WIDTH - 2 * ImGui::GetStyle().ItemInnerSpacing.x); | |
| 126 | ✗ | bool changed = gui::widgets::EnumCombo(fmt::format("##GNSS Measurement Error Model EnumCombo {}", id).c_str(), _model); | |
| 127 | ✗ | ImGui::SameLine(); | |
| 128 | ✗ | if (ImGui::Button(fmt::format("...## GnssMeasurementError {}", id).c_str(), ImVec2(BUTTON_WIDTH, 0))) | |
| 129 | { | ||
| 130 | ✗ | ImGui::OpenPopup(fmt::format("{} GnssMeasurementError Popup", id).c_str()); | |
| 131 | } | ||
| 132 | ✗ | ImGui::SameLine(0.0F, ImGui::GetStyle().ItemInnerSpacing.x); | |
| 133 | ✗ | ImGui::TextUnformatted("Weighting Function"); | |
| 134 | |||
| 135 | ✗ | int combo_current_item = 0; | |
| 136 | ✗ | changed |= gui::widgets::InputDoubleWithUnit(fmt::format("Carrier-Phase StdDev σ₀##{}", id).c_str(), width, UNIT_WIDTH, | |
| 137 | &_carrierStdDev, combo_current_item, "m\0\0", 0.0, 0.0, "%.3g", ImGuiInputTextFlags_CharsScientific); | ||
| 138 | ✗ | changed |= gui::widgets::InputDoubleWithUnit(fmt::format("Code/Pseudorange StdDev σ₀##{}", id).c_str(), width, UNIT_WIDTH, | |
| 139 | &_codeStdDev, combo_current_item, "m\0\0", 0.0, 0.0, "%.3g", ImGuiInputTextFlags_CharsScientific); | ||
| 140 | |||
| 141 | ✗ | changed |= gui::widgets::InputDoubleWithUnit(fmt::format("Doppler StdDev σ₀##{}", id).c_str(), width, UNIT_WIDTH, | |
| 142 | &_dopplerStdDev, combo_current_item, "Hz\0\0", 0.0, 0.0, "%.3g", ImGuiInputTextFlags_CharsScientific); | ||
| 143 | ✗ | ImGui::SameLine(); | |
| 144 | ✗ | ImGui::Text("= %.2g m/s (G1)", std::abs(doppler2rangeRate(_dopplerStdDev, G01, -128))); | |
| 145 | |||
| 146 | ✗ | if (ImGui::BeginPopup(fmt::format("{} GnssMeasurementError Popup", id).c_str())) | |
| 147 | { | ||
| 148 | ✗ | const float PLOT_WIDTH = 500.0F * gui::NodeEditorApplication::windowFontRatio(); | |
| 149 | ✗ | const float PLOT_HEIGHT = 450.0F * gui::NodeEditorApplication::windowFontRatio(); | |
| 150 | ✗ | const float TABLE_WIDTH = 440.0F * gui::NodeEditorApplication::windowFontRatio(); | |
| 151 | ✗ | const float ITEM_WIDTH = 160.0F * gui::NodeEditorApplication::windowFontRatio(); | |
| 152 | |||
| 153 | ✗ | const float WINDOW_HEIGHT = PLOT_HEIGHT + 30.0F * gui::NodeEditorApplication::windowFontRatio(); | |
| 154 | |||
| 155 | ✗ | if (ImGui::BeginChild("left pane", ImVec2(PLOT_WIDTH, WINDOW_HEIGHT), false, ImGuiWindowFlags_NoScrollbar)) | |
| 156 | { | ||
| 157 | ✗ | ImPlot::SetNextAxesLimits(_elevation_deg[0], _elevation_deg[PLOT_SAMPLES - 1], 0, 5, ImPlotCond_Once); | |
| 158 | ✗ | if (ImPlot::BeginPlot("Weighting function", ImVec2(ImGui::GetContentRegionAvail().x, PLOT_HEIGHT))) | |
| 159 | { | ||
| 160 | ✗ | ImPlot::SetupAxisLimitsConstraints(ImAxis_X1, _elevation_deg[0], _elevation_deg[PLOT_SAMPLES - 1]); | |
| 161 | ✗ | ImPlot::SetupAxisLimitsConstraints(ImAxis_Y1, 0.0, std::numeric_limits<double>::max()); | |
| 162 | ✗ | ImPlot::SetupAxes("Elevation [deg]", "Weighting function [-]"); | |
| 163 | ✗ | ImPlot::SetupLegend(ImPlotLocation_NorthEast); | |
| 164 | ✗ | for (size_t i = 0; i < Model::COUNT; i++) | |
| 165 | { | ||
| 166 | ✗ | ImPlot::PlotLine(to_string(static_cast<Model>(i)), _elevation_deg.data(), _stdDevCurvePlot.at(i).data(), static_cast<int>(_elevation_deg.size())); | |
| 167 | } | ||
| 168 | ✗ | ImPlot::EndPlot(); | |
| 169 | } | ||
| 170 | ✗ | ImGui::SetNextItemWidth(ImGui::GetContentRegionAvail().x - 40.0F * gui::NodeEditorApplication::windowFontRatio()); | |
| 171 | ✗ | if (ImGui::SliderDouble(fmt::format("c/n₀##{}", id).c_str(), &_plotCN0, 0.0, 60.0, "%.2f dB-Hz")) | |
| 172 | { | ||
| 173 | ✗ | updateStdDevCurvePlot(Model::SINE_CN0); | |
| 174 | ✗ | changed = true; | |
| 175 | } | ||
| 176 | } | ||
| 177 | ✗ | ImGui::EndChild(); | |
| 178 | |||
| 179 | ✗ | ImGui::SameLine(); | |
| 180 | |||
| 181 | ✗ | if (ImGui::BeginTable("parameter settings", 2, ImGuiTableFlags_SizingStretchSame, ImVec2(TABLE_WIDTH, 0.0F))) | |
| 182 | { | ||
| 183 | ✗ | ImGui::TableNextColumn(); | |
| 184 | ✗ | ImGui::SetNextItemOpen(true, ImGuiCond_Always); | |
| 185 | ✗ | if (ImGui::CollapsingHeader(fmt::format("{}##{}", to_string(Model::SINE), id).c_str())) | |
| 186 | { | ||
| 187 | ✗ | ImGui::TextUnformatted("wf = a/sin(e)"); | |
| 188 | ✗ | ImGui::SetNextItemWidth(ITEM_WIDTH); | |
| 189 | ✗ | if (ImGui::DragDouble(fmt::format("a##{} - {}", fmt::underlying(Model::SINE), id).c_str(), &_modelParametersSine.a, 0.1F, 0.0, std::numeric_limits<double>::max(), "%.2f")) | |
| 190 | { | ||
| 191 | ✗ | updateStdDevCurvePlot(Model::SINE); | |
| 192 | ✗ | changed = true; | |
| 193 | } | ||
| 194 | } | ||
| 195 | ✗ | ImGui::TableNextColumn(); | |
| 196 | ✗ | ImGui::SetNextItemOpen(true, ImGuiCond_Always); | |
| 197 | ✗ | if (ImGui::CollapsingHeader(fmt::format("{}##{}", to_string(Model::SINE_OFFSET), id).c_str(), ImGuiTreeNodeFlags_DefaultOpen)) | |
| 198 | { | ||
| 199 | ✗ | ImGui::TextUnformatted("wf = (a + b/sin(e))"); | |
| 200 | ✗ | ImGui::SetNextItemWidth(ITEM_WIDTH); | |
| 201 | ✗ | if (ImGui::DragDouble(fmt::format("a##{} - {}", fmt::underlying(Model::SINE_OFFSET), id).c_str(), &_modelParametersSineOffset.a, 0.1F, 0.0, std::numeric_limits<double>::max(), "%.2f")) | |
| 202 | { | ||
| 203 | ✗ | updateStdDevCurvePlot(Model::SINE_OFFSET); | |
| 204 | ✗ | changed = true; | |
| 205 | } | ||
| 206 | ✗ | ImGui::SetNextItemWidth(ITEM_WIDTH); | |
| 207 | ✗ | if (ImGui::DragDouble(fmt::format("b##{} - {}", fmt::underlying(Model::SINE_OFFSET), id).c_str(), &_modelParametersSineOffset.b, 0.1F, 0.0, std::numeric_limits<double>::max(), "%.2f")) | |
| 208 | { | ||
| 209 | ✗ | updateStdDevCurvePlot(Model::SINE_OFFSET); | |
| 210 | ✗ | changed = true; | |
| 211 | } | ||
| 212 | } | ||
| 213 | ✗ | ImGui::TableNextColumn(); | |
| 214 | ✗ | ImGui::SetNextItemOpen(true, ImGuiCond_Always); | |
| 215 | ✗ | if (ImGui::CollapsingHeader(fmt::format("{}##{}", to_string(Model::SINE_CN0), id).c_str(), ImGuiTreeNodeFlags_DefaultOpen)) | |
| 216 | { | ||
| 217 | ✗ | ImGui::TextUnformatted("wf = a/sin(e) * √(b + c/(c/n₀))"); | |
| 218 | ✗ | ImGui::SetNextItemWidth(ITEM_WIDTH); | |
| 219 | ✗ | if (ImGui::DragDouble(fmt::format("a##{} - {}", fmt::underlying(Model::SINE_CN0), id).c_str(), &_modelParametersSineCN0.a, 0.1F, 0.0, std::numeric_limits<double>::max(), "%.2f")) | |
| 220 | { | ||
| 221 | ✗ | updateStdDevCurvePlot(Model::SINE_CN0); | |
| 222 | ✗ | changed = true; | |
| 223 | } | ||
| 224 | ✗ | ImGui::SetNextItemWidth(ITEM_WIDTH); | |
| 225 | ✗ | if (ImGui::DragDouble(fmt::format("b##{} - {}", fmt::underlying(Model::SINE_CN0), id).c_str(), &_modelParametersSineCN0.b, 0.1F, 0.0, std::numeric_limits<double>::max(), "%.2f")) | |
| 226 | { | ||
| 227 | ✗ | updateStdDevCurvePlot(Model::SINE_CN0); | |
| 228 | ✗ | changed = true; | |
| 229 | } | ||
| 230 | ✗ | ImGui::SetNextItemWidth(ITEM_WIDTH); | |
| 231 | ✗ | if (ImGui::DragDouble(fmt::format("c##{} - {}", fmt::underlying(Model::SINE_CN0), id).c_str(), &_modelParametersSineCN0.c, 0.1F, 0.0, std::numeric_limits<double>::max(), "%.2f")) | |
| 232 | { | ||
| 233 | ✗ | updateStdDevCurvePlot(Model::SINE_CN0); | |
| 234 | ✗ | changed = true; | |
| 235 | } | ||
| 236 | } | ||
| 237 | ✗ | ImGui::TableNextColumn(); | |
| 238 | ✗ | ImGui::SetNextItemOpen(true, ImGuiCond_Always); | |
| 239 | ✗ | if (ImGui::CollapsingHeader(fmt::format("{}##{}", to_string(Model::RTKLIB), id).c_str(), ImGuiTreeNodeFlags_DefaultOpen)) | |
| 240 | { | ||
| 241 | ✗ | ImGui::TextUnformatted("wf = √(a² + b²/sin(e))"); | |
| 242 | ✗ | ImGui::SetNextItemWidth(ITEM_WIDTH); | |
| 243 | ✗ | if (ImGui::DragDouble(fmt::format("a##{} - {}", fmt::underlying(Model::RTKLIB), id).c_str(), &_modelParametersRtklib.a, 0.1F, 0.0, std::numeric_limits<double>::max(), "%.2f")) | |
| 244 | { | ||
| 245 | ✗ | updateStdDevCurvePlot(Model::RTKLIB); | |
| 246 | ✗ | changed = true; | |
| 247 | } | ||
| 248 | ✗ | ImGui::SetNextItemWidth(ITEM_WIDTH); | |
| 249 | ✗ | if (ImGui::DragDouble(fmt::format("b##{} - {}", fmt::underlying(Model::RTKLIB), id).c_str(), &_modelParametersRtklib.b, 0.1F, 0.0, std::numeric_limits<double>::max(), "%.2f")) | |
| 250 | { | ||
| 251 | ✗ | updateStdDevCurvePlot(Model::RTKLIB); | |
| 252 | ✗ | changed = true; | |
| 253 | } | ||
| 254 | } | ||
| 255 | ✗ | ImGui::TableNextColumn(); | |
| 256 | ✗ | ImGui::SetNextItemOpen(true, ImGuiCond_Always); | |
| 257 | ✗ | if (ImGui::CollapsingHeader(fmt::format("{}##{}", to_string(Model::SINE_SQRT), id).c_str(), ImGuiTreeNodeFlags_DefaultOpen)) | |
| 258 | { | ||
| 259 | ✗ | ImGui::TextUnformatted("wf = √(a² + b²/sin²(e))"); | |
| 260 | ✗ | ImGui::SetNextItemWidth(ITEM_WIDTH); | |
| 261 | ✗ | if (ImGui::DragDouble(fmt::format("a##{} - {}", fmt::underlying(Model::SINE_SQRT), id).c_str(), &_modelParametersSineSqrt.a, 0.1F, 0.0, std::numeric_limits<double>::max(), "%.2f")) | |
| 262 | { | ||
| 263 | ✗ | updateStdDevCurvePlot(Model::SINE_SQRT); | |
| 264 | ✗ | changed = true; | |
| 265 | } | ||
| 266 | ✗ | ImGui::SetNextItemWidth(ITEM_WIDTH); | |
| 267 | ✗ | if (ImGui::DragDouble(fmt::format("b##{} - {}", fmt::underlying(Model::SINE_SQRT), id).c_str(), &_modelParametersSineSqrt.b, 0.1F, 0.0, std::numeric_limits<double>::max(), "%.2f")) | |
| 268 | { | ||
| 269 | ✗ | updateStdDevCurvePlot(Model::SINE_SQRT); | |
| 270 | ✗ | changed = true; | |
| 271 | } | ||
| 272 | } | ||
| 273 | ✗ | ImGui::TableNextColumn(); | |
| 274 | ✗ | ImGui::SetNextItemOpen(true, ImGuiCond_Always); | |
| 275 | ✗ | if (ImGui::CollapsingHeader(fmt::format("{}##{}", to_string(Model::EXPONENTIAL), id).c_str(), ImGuiTreeNodeFlags_DefaultOpen)) | |
| 276 | { | ||
| 277 | ✗ | ImGui::TextUnformatted("wf = (a + b * exp(-e/e₀))"); | |
| 278 | ✗ | ImGui::SetNextItemWidth(ITEM_WIDTH); | |
| 279 | ✗ | if (ImGui::DragDouble(fmt::format("a##{} - {}", fmt::underlying(Model::EXPONENTIAL), id).c_str(), &_modelParametersExponential.a, 0.1F, 0.0, std::numeric_limits<double>::max(), "%.2f")) | |
| 280 | { | ||
| 281 | ✗ | updateStdDevCurvePlot(Model::EXPONENTIAL); | |
| 282 | ✗ | changed = true; | |
| 283 | } | ||
| 284 | ✗ | ImGui::SetNextItemWidth(ITEM_WIDTH); | |
| 285 | ✗ | if (ImGui::DragDouble(fmt::format("b##{} - {}", fmt::underlying(Model::EXPONENTIAL), id).c_str(), &_modelParametersExponential.b, 0.1F, 0.0, std::numeric_limits<double>::max(), "%.2f")) | |
| 286 | { | ||
| 287 | ✗ | updateStdDevCurvePlot(Model::EXPONENTIAL); | |
| 288 | ✗ | changed = true; | |
| 289 | } | ||
| 290 | ✗ | ImGui::SetNextItemWidth(ITEM_WIDTH); | |
| 291 | ✗ | if (ImGui::DragDouble(fmt::format("e0##{} - {}", fmt::underlying(Model::EXPONENTIAL), id).c_str(), &_modelParametersExponential.e0, 0.1F, 0.0, std::numeric_limits<double>::max(), "%.1f")) | |
| 292 | { | ||
| 293 | ✗ | updateStdDevCurvePlot(Model::EXPONENTIAL); | |
| 294 | ✗ | changed = true; | |
| 295 | } | ||
| 296 | } | ||
| 297 | ✗ | ImGui::TableNextColumn(); | |
| 298 | ✗ | ImGui::SetNextItemOpen(true, ImGuiCond_Always); | |
| 299 | ✗ | if (ImGui::CollapsingHeader(fmt::format("{}##{}", to_string(Model::COSINE_TYPE), id).c_str(), ImGuiTreeNodeFlags_DefaultOpen)) | |
| 300 | { | ||
| 301 | ✗ | ImGui::TextUnformatted("wf = √(a + b * cosⁿ(e))"); | |
| 302 | ✗ | ImGui::SetNextItemWidth(ITEM_WIDTH); | |
| 303 | ✗ | if (ImGui::DragDouble(fmt::format("a##{} - {}", fmt::underlying(Model::COSINE_TYPE), id).c_str(), &_modelParametersCosineType.a, 0.1F, 0.0, std::numeric_limits<double>::max(), "%.2f")) | |
| 304 | { | ||
| 305 | ✗ | updateStdDevCurvePlot(Model::COSINE_TYPE); | |
| 306 | ✗ | changed = true; | |
| 307 | } | ||
| 308 | ✗ | ImGui::SetNextItemWidth(ITEM_WIDTH); | |
| 309 | ✗ | if (ImGui::DragDouble(fmt::format("b##{} - {}", fmt::underlying(Model::COSINE_TYPE), id).c_str(), &_modelParametersCosineType.b, 0.1F, 0.0, std::numeric_limits<double>::max(), "%.2f")) | |
| 310 | { | ||
| 311 | ✗ | updateStdDevCurvePlot(Model::COSINE_TYPE); | |
| 312 | ✗ | changed = true; | |
| 313 | } | ||
| 314 | ✗ | ImGui::SetNextItemWidth(ITEM_WIDTH); | |
| 315 | ✗ | if (ImGui::InputIntL(fmt::format("n##{} - {}", fmt::underlying(Model::COSINE_TYPE), id).c_str(), &_modelParametersCosineType.n, 0)) | |
| 316 | { | ||
| 317 | ✗ | updateStdDevCurvePlot(Model::COSINE_TYPE); | |
| 318 | ✗ | changed = true; | |
| 319 | } | ||
| 320 | } | ||
| 321 | ✗ | ImGui::EndTable(); | |
| 322 | } | ||
| 323 | ✗ | ImGui::EndPopup(); | |
| 324 | } | ||
| 325 | ✗ | return changed; | |
| 326 | } | ||
| 327 | |||
| 328 | ✗ | const char* to_string(GnssMeasurementErrorModel::Model model) | |
| 329 | { | ||
| 330 | ✗ | switch (model) | |
| 331 | { | ||
| 332 | ✗ | case GnssMeasurementErrorModel::Model::None: | |
| 333 | ✗ | return "None"; | |
| 334 | ✗ | case GnssMeasurementErrorModel::Model::SINE: | |
| 335 | ✗ | return "Sine"; | |
| 336 | ✗ | case GnssMeasurementErrorModel::Model::SINE_OFFSET: | |
| 337 | ✗ | return "Sine + Offset"; | |
| 338 | ✗ | case GnssMeasurementErrorModel::Model::SINE_CN0: | |
| 339 | ✗ | return "Sine + CN0"; | |
| 340 | ✗ | case GnssMeasurementErrorModel::Model::RTKLIB: | |
| 341 | ✗ | return "RTKLIB"; | |
| 342 | ✗ | case GnssMeasurementErrorModel::Model::SINE_SQRT: | |
| 343 | ✗ | return "Sine-Sqrt"; | |
| 344 | ✗ | case GnssMeasurementErrorModel::Model::EXPONENTIAL: | |
| 345 | ✗ | return "Exponential"; | |
| 346 | ✗ | case GnssMeasurementErrorModel::Model::COSINE_TYPE: | |
| 347 | ✗ | return "Cosine-Type"; | |
| 348 | ✗ | case GnssMeasurementErrorModel::Model::COUNT: | |
| 349 | ✗ | break; | |
| 350 | } | ||
| 351 | ✗ | return ""; | |
| 352 | } | ||
| 353 | |||
| 354 | ✗ | void to_json(json& j, const GnssMeasurementErrorModel& obj) | |
| 355 | { | ||
| 356 | ✗ | j = json{ | |
| 357 | ✗ | { "model", obj._model }, | |
| 358 | ✗ | { "carrierStdDev", obj._carrierStdDev }, | |
| 359 | ✗ | { "codeStdDev", obj._codeStdDev }, | |
| 360 | ✗ | { "dopplerStdDev", obj._dopplerStdDev }, | |
| 361 | ✗ | { "plotCN0", obj._plotCN0 }, | |
| 362 | ✗ | { "modelParametersSine", obj._modelParametersSine }, | |
| 363 | ✗ | { "modelParametersSineOffset", obj._modelParametersSineOffset }, | |
| 364 | ✗ | { "modelParametersSineCN0", obj._modelParametersSineCN0 }, | |
| 365 | ✗ | { "modelParametersRtklib", obj._modelParametersRtklib }, | |
| 366 | ✗ | { "modelParametersSineSqrt", obj._modelParametersSineSqrt }, | |
| 367 | ✗ | { "modelParametersExponential", obj._modelParametersExponential }, | |
| 368 | ✗ | { "modelParametersCosineType", obj._modelParametersCosineType }, | |
| 369 | ✗ | }; | |
| 370 | ✗ | } | |
| 371 | |||
| 372 | 8 | void from_json(const json& j, GnssMeasurementErrorModel& obj) | |
| 373 | { | ||
| 374 |
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8 | if (j.contains("model")) { j.at("model").get_to(obj._model); } |
| 375 |
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8 | if (j.contains("carrierStdDev")) { j.at("carrierStdDev").get_to(obj._carrierStdDev); } |
| 376 |
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8 | if (j.contains("codeStdDev")) { j.at("codeStdDev").get_to(obj._codeStdDev); } |
| 377 |
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8 | if (j.contains("dopplerStdDev")) { j.at("dopplerStdDev").get_to(obj._dopplerStdDev); } |
| 378 |
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8 | if (j.contains("plotCN0")) { j.at("plotCN0").get_to(obj._plotCN0); } |
| 379 |
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8 | if (j.contains("modelParametersSine")) { j.at("modelParametersSine").get_to(obj._modelParametersSine); } |
| 380 |
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8 | if (j.contains("modelParametersSineOffset")) { j.at("modelParametersSineOffset").get_to(obj._modelParametersSineOffset); } |
| 381 |
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8 | if (j.contains("modelParametersSineCN0")) { j.at("modelParametersSineCN0").get_to(obj._modelParametersSineCN0); } |
| 382 |
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8 | if (j.contains("modelParametersRtklib")) { j.at("modelParametersRtklib").get_to(obj._modelParametersRtklib); } |
| 383 |
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8 | if (j.contains("modelParametersSineSqrt")) { j.at("modelParametersSineSqrt").get_to(obj._modelParametersSineSqrt); } |
| 384 |
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8 | if (j.contains("modelParametersExponential")) { j.at("modelParametersExponential").get_to(obj._modelParametersExponential); } |
| 385 |
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8 | if (j.contains("modelParametersCosineType")) { j.at("modelParametersCosineType").get_to(obj._modelParametersCosineType); } |
| 386 | 8 | } | |
| 387 | |||
| 388 | ✗ | void to_json(json& j, const GnssMeasurementErrorModel::ModelParametersSine& obj) | |
| 389 | { | ||
| 390 | ✗ | j = json{ | |
| 391 | ✗ | { "a", obj.a }, | |
| 392 | ✗ | }; | |
| 393 | ✗ | } | |
| 394 | 8 | void from_json(const json& j, GnssMeasurementErrorModel::ModelParametersSine& obj) | |
| 395 | { | ||
| 396 |
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8 | if (j.contains("a")) { j.at("a").get_to(obj.a); } |
| 397 | 8 | } | |
| 398 | |||
| 399 | ✗ | void to_json(json& j, const GnssMeasurementErrorModel::ModelParametersSineOffset& obj) | |
| 400 | { | ||
| 401 | ✗ | j = json{ | |
| 402 | ✗ | { "a", obj.a }, | |
| 403 | ✗ | { "b", obj.b }, | |
| 404 | ✗ | }; | |
| 405 | ✗ | } | |
| 406 | 8 | void from_json(const json& j, GnssMeasurementErrorModel::ModelParametersSineOffset& obj) | |
| 407 | { | ||
| 408 |
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| 409 |
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8 | if (j.contains("b")) { j.at("b").get_to(obj.b); } |
| 410 | 8 | } | |
| 411 | |||
| 412 | ✗ | void to_json(json& j, const GnssMeasurementErrorModel::ModelParametersSineCN0& obj) | |
| 413 | { | ||
| 414 | ✗ | j = json{ | |
| 415 | ✗ | { "a", obj.a }, | |
| 416 | ✗ | { "b", obj.b }, | |
| 417 | ✗ | { "c", obj.c }, | |
| 418 | ✗ | }; | |
| 419 | ✗ | } | |
| 420 | 8 | void from_json(const json& j, GnssMeasurementErrorModel::ModelParametersSineCN0& obj) | |
| 421 | { | ||
| 422 |
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| 423 |
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8 | if (j.contains("b")) { j.at("b").get_to(obj.b); } |
| 424 |
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8 | if (j.contains("c")) { j.at("c").get_to(obj.c); } |
| 425 | 8 | } | |
| 426 | |||
| 427 | ✗ | void to_json(json& j, const GnssMeasurementErrorModel::ModelParametersRtklib& obj) | |
| 428 | { | ||
| 429 | ✗ | j = json{ | |
| 430 | ✗ | { "a", obj.a }, | |
| 431 | ✗ | { "b", obj.b }, | |
| 432 | ✗ | }; | |
| 433 | ✗ | } | |
| 434 | 8 | void from_json(const json& j, GnssMeasurementErrorModel::ModelParametersRtklib& obj) | |
| 435 | { | ||
| 436 |
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| 437 |
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8 | if (j.contains("b")) { j.at("b").get_to(obj.b); } |
| 438 | 8 | } | |
| 439 | |||
| 440 | ✗ | void to_json(json& j, const GnssMeasurementErrorModel::ModelParametersSineSqrt& obj) | |
| 441 | { | ||
| 442 | ✗ | j = json{ | |
| 443 | ✗ | { "a", obj.a }, | |
| 444 | ✗ | { "b", obj.b }, | |
| 445 | ✗ | }; | |
| 446 | ✗ | } | |
| 447 | 8 | void from_json(const json& j, GnssMeasurementErrorModel::ModelParametersSineSqrt& obj) | |
| 448 | { | ||
| 449 |
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| 450 |
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8 | if (j.contains("b")) { j.at("b").get_to(obj.b); } |
| 451 | 8 | } | |
| 452 | |||
| 453 | ✗ | void to_json(json& j, const GnssMeasurementErrorModel::ModelParametersExponential& obj) | |
| 454 | { | ||
| 455 | ✗ | j = json{ | |
| 456 | ✗ | { "a", obj.a }, | |
| 457 | ✗ | { "b", obj.b }, | |
| 458 | ✗ | { "e0", obj.e0 }, | |
| 459 | ✗ | }; | |
| 460 | ✗ | } | |
| 461 | 8 | void from_json(const json& j, GnssMeasurementErrorModel::ModelParametersExponential& obj) | |
| 462 | { | ||
| 463 |
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| 464 |
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8 | if (j.contains("b")) { j.at("b").get_to(obj.b); } |
| 465 |
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8 | if (j.contains("e0")) { j.at("e0").get_to(obj.e0); } |
| 466 | 8 | } | |
| 467 | |||
| 468 | ✗ | void to_json(json& j, const GnssMeasurementErrorModel::ModelParametersCosineType& obj) | |
| 469 | { | ||
| 470 | ✗ | j = json{ | |
| 471 | ✗ | { "a", obj.a }, | |
| 472 | ✗ | { "b", obj.b }, | |
| 473 | ✗ | { "n", obj.n }, | |
| 474 | ✗ | }; | |
| 475 | ✗ | } | |
| 476 | 8 | void from_json(const json& j, GnssMeasurementErrorModel::ModelParametersCosineType& obj) | |
| 477 | { | ||
| 478 |
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8 | if (j.contains("a")) { j.at("a").get_to(obj.a); } |
| 479 |
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8 | if (j.contains("b")) { j.at("b").get_to(obj.b); } |
| 480 |
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8 | if (j.contains("n")) { j.at("n").get_to(obj.n); } |
| 481 | 8 | } | |
| 482 | |||
| 483 | } // namespace NAV | ||
| 484 |