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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 | /// @file Mechanization.hpp | ||
| 10 | /// @brief Inertial Navigation Mechanization Functions | ||
| 11 | /// @author T. Topp (topp@ins.uni-stuttgart.de) | ||
| 12 | /// @author M. Maier (marcel.maier@ins.uni-stuttgart.de) | ||
| 13 | /// @date 2023-12-11 | ||
| 14 | |||
| 15 | #pragma once | ||
| 16 | |||
| 17 | #include <type_traits> | ||
| 18 | |||
| 19 | #include "Navigation/Gravity/Gravity.hpp" | ||
| 20 | |||
| 21 | namespace NAV | ||
| 22 | { | ||
| 23 | |||
| 24 | /// @brief Values needed to calculate the PosVelAttDerivative for the local-navigation frame | ||
| 25 | template<std::floating_point Scalar> | ||
| 26 | struct PosVelAttDerivativeConstants | ||
| 27 | { | ||
| 28 | GravitationModel gravitationModel = GravitationModel::EGM96; ///< Gravity Model to use | ||
| 29 | bool coriolisAccelerationCompensationEnabled = true; ///< Apply the Coriolis acceleration compensation to the measured accelerations | ||
| 30 | bool centrifgalAccelerationCompensationEnabled = true; ///< Apply the centrifugal acceleration compensation to the measured accelerations | ||
| 31 | bool angularRateEarthRotationCompensationEnabled = true; ///< Apply the Earth rotation rate compensation to the measured angular rates | ||
| 32 | bool angularRateTransportRateCompensationEnabled = true; ///< Apply the transport rate compensation to the measured angular rates | ||
| 33 | Scalar timeDifferenceSec = 0.0; ///< Time difference over the whole integration step [s] | ||
| 34 | }; | ||
| 35 | |||
| 36 | /// @brief Write info to a json object | ||
| 37 | /// @param[out] j Json output | ||
| 38 | /// @param[in] data Object to read info from | ||
| 39 | template<std::floating_point Scalar> | ||
| 40 | ✗ | void to_json(json& j, const PosVelAttDerivativeConstants<Scalar>& data) | |
| 41 | { | ||
| 42 | ✗ | j = json{ | |
| 43 | ✗ | { "gravitationModel", data.gravitationModel }, | |
| 44 | ✗ | { "coriolisAccelerationCompensationEnabled", data.coriolisAccelerationCompensationEnabled }, | |
| 45 | ✗ | { "centrifgalAccelerationCompensationEnabled", data.centrifgalAccelerationCompensationEnabled }, | |
| 46 | ✗ | { "angularRateEarthRotationCompensationEnabled", data.angularRateEarthRotationCompensationEnabled }, | |
| 47 | ✗ | { "angularRateTransportRateCompensationEnabled", data.angularRateTransportRateCompensationEnabled }, | |
| 48 | }; | ||
| 49 | ✗ | } | |
| 50 | /// @brief Read info from a json object | ||
| 51 | /// @param[in] j Json variable to read info from | ||
| 52 | /// @param[out] data Output object | ||
| 53 | template<std::floating_point Scalar> | ||
| 54 | 19 | void from_json(const json& j, PosVelAttDerivativeConstants<Scalar>& data) | |
| 55 | { | ||
| 56 |
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19 | if (j.contains("gravitationModel")) { j.at("gravitationModel").get_to(data.gravitationModel); } |
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19 | if (j.contains("coriolisAccelerationCompensationEnabled")) { j.at("coriolisAccelerationCompensationEnabled").get_to(data.coriolisAccelerationCompensationEnabled); } |
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19 | if (j.contains("centrifgalAccelerationCompensationEnabled")) { j.at("centrifgalAccelerationCompensationEnabled").get_to(data.centrifgalAccelerationCompensationEnabled); } |
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19 | if (j.contains("angularRateEarthRotationCompensationEnabled")) { j.at("angularRateEarthRotationCompensationEnabled").get_to(data.angularRateEarthRotationCompensationEnabled); } |
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19 | if (j.contains("angularRateTransportRateCompensationEnabled")) { j.at("angularRateTransportRateCompensationEnabled").get_to(data.angularRateTransportRateCompensationEnabled); } |
| 61 | 19 | } | |
| 62 | |||
| 63 | } // namespace NAV | ||
| 64 |