| 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 "PosVelAttFile.hpp" | ||
| 10 | |||
| 11 | #include "util/Logger.hpp" | ||
| 12 | #include "util/StringUtil.hpp" | ||
| 13 | |||
| 14 | #include "Navigation/Transformations/CoordinateFrames.hpp" | ||
| 15 | #include "Navigation/Transformations/Units.hpp" | ||
| 16 | |||
| 17 | #include "internal/NodeManager.hpp" | ||
| 18 | #include <Eigen/src/Core/DiagonalMatrix.h> | ||
| 19 | namespace nm = NAV::NodeManager; | ||
| 20 | #include "internal/FlowManager.hpp" | ||
| 21 | |||
| 22 | #include "NodeData/State/PosVelAtt.hpp" | ||
| 23 | |||
| 24 | 112 | NAV::PosVelAttFile::PosVelAttFile() | |
| 25 |
3/6✓ Branch 1 taken 112 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 112 times.
✗ Branch 5 not taken.
✓ Branch 8 taken 112 times.
✗ Branch 9 not taken.
|
112 | : Node(typeStatic()) |
| 26 | { | ||
| 27 | LOG_TRACE("{}: called", name); | ||
| 28 | |||
| 29 | 112 | _hasConfig = true; | |
| 30 | 112 | _guiConfigDefaultWindowSize = { 488, 248 }; | |
| 31 | |||
| 32 |
4/8✓ Branch 1 taken 112 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 112 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 336 times.
✓ Branch 9 taken 112 times.
✗ Branch 12 not taken.
✗ Branch 13 not taken.
|
560 | nm::CreateOutputPin(this, "PosVelAtt", Pin::Type::Flow, { Pos::type(), PosVel::type(), PosVelAtt::type() }, &PosVelAttFile::pollData); |
| 33 |
2/4✓ Branch 2 taken 112 times.
✗ Branch 3 not taken.
✓ Branch 6 taken 112 times.
✗ Branch 7 not taken.
|
224 | nm::CreateOutputPin(this, "Header Columns", Pin::Type::Object, { "std::vector<std::string>" }, &_headerColumns); |
| 34 | 224 | } | |
| 35 | |||
| 36 | 224 | NAV::PosVelAttFile::~PosVelAttFile() | |
| 37 | { | ||
| 38 | LOG_TRACE("{}: called", nameId()); | ||
| 39 | 224 | } | |
| 40 | |||
| 41 | 224 | std::string NAV::PosVelAttFile::typeStatic() | |
| 42 | { | ||
| 43 |
1/2✓ Branch 1 taken 224 times.
✗ Branch 2 not taken.
|
448 | return "PosVelAttFile"; |
| 44 | } | ||
| 45 | |||
| 46 | ✗ | std::string NAV::PosVelAttFile::type() const | |
| 47 | { | ||
| 48 | ✗ | return typeStatic(); | |
| 49 | } | ||
| 50 | |||
| 51 | 112 | std::string NAV::PosVelAttFile::category() | |
| 52 | { | ||
| 53 |
1/2✓ Branch 1 taken 112 times.
✗ Branch 2 not taken.
|
224 | return "Data Provider"; |
| 54 | } | ||
| 55 | |||
| 56 | ✗ | void NAV::PosVelAttFile::guiConfig() | |
| 57 | { | ||
| 58 | ✗ | if (auto res = FileReader::guiConfig(".csv,.*", { ".csv" }, size_t(id), nameId())) | |
| 59 | { | ||
| 60 | ✗ | LOG_DEBUG("{}: Path changed to {}", nameId(), _path); | |
| 61 | ✗ | flow::ApplyChanges(); | |
| 62 | ✗ | if (res == FileReader::PATH_CHANGED) | |
| 63 | { | ||
| 64 | ✗ | doReinitialize(); | |
| 65 | } | ||
| 66 | else | ||
| 67 | { | ||
| 68 | ✗ | doDeinitialize(); | |
| 69 | } | ||
| 70 | } | ||
| 71 | |||
| 72 | // Header info | ||
| 73 | ✗ | if (ImGui::BeginTable(fmt::format("##PvaHeaders ({})", id.AsPointer()).c_str(), 4, | |
| 74 | ImGuiTableFlags_Borders | ImGuiTableFlags_RowBg)) | ||
| 75 | { | ||
| 76 | ✗ | ImGui::TableSetupColumn("Time", ImGuiTableColumnFlags_WidthFixed); | |
| 77 | ✗ | ImGui::TableSetupColumn("Position", ImGuiTableColumnFlags_WidthFixed); | |
| 78 | ✗ | ImGui::TableSetupColumn("Velocity", ImGuiTableColumnFlags_WidthFixed); | |
| 79 | ✗ | ImGui::TableSetupColumn("Attitude", ImGuiTableColumnFlags_WidthFixed); | |
| 80 | ✗ | ImGui::TableHeadersRow(); | |
| 81 | |||
| 82 | ✗ | auto TextColoredIfExists = [this](int index, const char* text) { | |
| 83 | ✗ | ImGui::TableSetColumnIndex(index); | |
| 84 | ✗ | if (std::ranges::find(_headerColumns, text) != _headerColumns.end()) | |
| 85 | { | ||
| 86 | ✗ | ImGui::TextUnformatted(text); | |
| 87 | } | ||
| 88 | else | ||
| 89 | { | ||
| 90 | ✗ | ImGui::TextDisabled("%s", text); | |
| 91 | } | ||
| 92 | ✗ | }; | |
| 93 | |||
| 94 | ✗ | ImGui::TableNextRow(); | |
| 95 | ✗ | TextColoredIfExists(0, "GpsCycle"); | |
| 96 | ✗ | TextColoredIfExists(1, "Pos ECEF X [m]"); | |
| 97 | ✗ | TextColoredIfExists(2, "Vel ECEF X [m/s]"); | |
| 98 | ✗ | TextColoredIfExists(3, "n_Quat_b w"); | |
| 99 | ✗ | ImGui::TableNextRow(); | |
| 100 | ✗ | TextColoredIfExists(0, "GpsWeek"); | |
| 101 | ✗ | TextColoredIfExists(1, "Pos ECEF Y [m]"); | |
| 102 | ✗ | TextColoredIfExists(2, "Vel ECEF Y [m/s]"); | |
| 103 | ✗ | TextColoredIfExists(3, "n_Quat_b x"); | |
| 104 | ✗ | ImGui::TableNextRow(); | |
| 105 | ✗ | TextColoredIfExists(0, "GpsToW [s]"); | |
| 106 | ✗ | TextColoredIfExists(1, "Pos ECEF Z [m]"); | |
| 107 | ✗ | TextColoredIfExists(2, "Vel ECEF Z [m/s]"); | |
| 108 | ✗ | TextColoredIfExists(3, "n_Quat_b y"); | |
| 109 | ✗ | ImGui::TableNextRow(); | |
| 110 | ✗ | TextColoredIfExists(1, "Latitude [deg]"); | |
| 111 | ✗ | TextColoredIfExists(2, "Vel N [m/s]"); | |
| 112 | ✗ | TextColoredIfExists(3, "n_Quat_b z"); | |
| 113 | ✗ | ImGui::TableNextRow(); | |
| 114 | ✗ | TextColoredIfExists(1, "Longitude [deg]"); | |
| 115 | ✗ | TextColoredIfExists(2, "Vel E [m/s]"); | |
| 116 | ✗ | TextColoredIfExists(3, "Roll [deg]"); | |
| 117 | ✗ | ImGui::TableNextRow(); | |
| 118 | ✗ | TextColoredIfExists(1, "Altitude [m]"); | |
| 119 | ✗ | TextColoredIfExists(2, "Vel D [m/s]"); | |
| 120 | ✗ | TextColoredIfExists(3, "Pitch [deg]"); | |
| 121 | ✗ | ImGui::TableNextRow(); | |
| 122 | ✗ | TextColoredIfExists(3, "Yaw [deg]"); | |
| 123 | |||
| 124 | ✗ | ImGui::EndTable(); | |
| 125 | } | ||
| 126 | ✗ | } | |
| 127 | |||
| 128 | ✗ | [[nodiscard]] json NAV::PosVelAttFile::save() const | |
| 129 | { | ||
| 130 | LOG_TRACE("{}: called", nameId()); | ||
| 131 | |||
| 132 | ✗ | json j; | |
| 133 | |||
| 134 | ✗ | j["FileReader"] = FileReader::save(); | |
| 135 | ✗ | j["pinType"] = outputPins[OUTPUT_PORT_INDEX_PVA].dataIdentifier; | |
| 136 | |||
| 137 | ✗ | return j; | |
| 138 | ✗ | } | |
| 139 | |||
| 140 | ✗ | void NAV::PosVelAttFile::restore(json const& j) | |
| 141 | { | ||
| 142 | LOG_TRACE("{}: called", nameId()); | ||
| 143 | |||
| 144 | ✗ | if (j.contains("FileReader")) | |
| 145 | { | ||
| 146 | ✗ | FileReader::restore(j.at("FileReader")); | |
| 147 | } | ||
| 148 | ✗ | if (j.contains("pinType")) | |
| 149 | { | ||
| 150 | ✗ | j.at("pinType").get_to(outputPins[OUTPUT_PORT_INDEX_PVA].dataIdentifier); | |
| 151 | } | ||
| 152 | ✗ | } | |
| 153 | |||
| 154 | ✗ | bool NAV::PosVelAttFile::initialize() | |
| 155 | { | ||
| 156 | LOG_TRACE("{}: called", nameId()); | ||
| 157 | |||
| 158 | ✗ | if (FileReader::initialize()) | |
| 159 | { | ||
| 160 | ✗ | for (auto& col : _headerColumns) | |
| 161 | { | ||
| 162 | ✗ | str::replace(col, "GpsTow [s]", "GpsToW [s]"); | |
| 163 | } | ||
| 164 | |||
| 165 | ✗ | auto hasCol = [&](const char* text) { | |
| 166 | ✗ | return std::ranges::find(_headerColumns, text) != _headerColumns.end(); | |
| 167 | ✗ | }; | |
| 168 | |||
| 169 | ✗ | if (!hasCol("GpsCycle") || !hasCol("GpsWeek") || !hasCol("GpsToW [s]")) | |
| 170 | { | ||
| 171 | ✗ | LOG_ERROR("{}: A PosVelAtt File needs a time. Please add columns 'GpsCycle', 'GpsWeek' and 'GpsToW [s]'.", nameId()); | |
| 172 | ✗ | return false; | |
| 173 | } | ||
| 174 | ✗ | if (!(hasCol("Pos ECEF X [m]") && hasCol("Pos ECEF Y [m]") && hasCol("Pos ECEF Z [m]")) | |
| 175 | ✗ | && !(hasCol("Latitude [deg]") && hasCol("Longitude [deg]") && hasCol("Altitude [m]"))) | |
| 176 | { | ||
| 177 | ✗ | LOG_ERROR("{}: A PosVelAtt File needs a position. Please provide" | |
| 178 | " either 'Pos ECEF X [m]', 'Pos ECEF Y [m]', 'Pos ECEF Z [m]'" | ||
| 179 | " or 'Latitude [deg]', 'Longitude [deg]', 'Altitude [m]'.", | ||
| 180 | nameId()); | ||
| 181 | ✗ | return false; | |
| 182 | } | ||
| 183 | ✗ | _fileContent = FileContent::Pos; | |
| 184 | ✗ | outputPins[OUTPUT_PORT_INDEX_PVA].dataIdentifier = std::vector{ Pos::type() }; | |
| 185 | |||
| 186 | ✗ | if ((hasCol("Vel ECEF X [m/s]") && hasCol("Vel ECEF Y [m/s]") && hasCol("Vel ECEF Z [m/s]")) | |
| 187 | ✗ | || (hasCol("Vel N [m/s]") && hasCol("Vel E [m/s]") && hasCol("Vel D [m/s]"))) | |
| 188 | { | ||
| 189 | ✗ | _fileContent = FileContent::PosVel; | |
| 190 | ✗ | outputPins[OUTPUT_PORT_INDEX_PVA].dataIdentifier = std::vector{ PosVel::type() }; | |
| 191 | |||
| 192 | ✗ | if ((hasCol("n_Quat_b w") && hasCol("n_Quat_b x") && hasCol("n_Quat_b y") && hasCol("n_Quat_b z")) | |
| 193 | ✗ | || (hasCol("Roll [deg]") && hasCol("Pitch [deg]") && hasCol("Yaw [deg]"))) | |
| 194 | { | ||
| 195 | ✗ | _fileContent = FileContent::PosVelAtt; | |
| 196 | ✗ | outputPins[OUTPUT_PORT_INDEX_PVA].dataIdentifier = std::vector{ PosVelAtt::type() }; | |
| 197 | } | ||
| 198 | } | ||
| 199 | |||
| 200 | ✗ | for (auto& link : outputPins[OUTPUT_PORT_INDEX_PVA].links) | |
| 201 | { | ||
| 202 | ✗ | if (auto* pin = link.getConnectedPin()) | |
| 203 | { | ||
| 204 | ✗ | outputPins[OUTPUT_PORT_INDEX_PVA].recreateLink(*pin); | |
| 205 | } | ||
| 206 | } | ||
| 207 | |||
| 208 | ✗ | return true; | |
| 209 | } | ||
| 210 | |||
| 211 | ✗ | outputPins[OUTPUT_PORT_INDEX_PVA].dataIdentifier = { Pos::type(), PosVel::type(), PosVelAtt::type() }; | |
| 212 | ✗ | return false; | |
| 213 | ✗ | } | |
| 214 | |||
| 215 | ✗ | void NAV::PosVelAttFile::deinitialize() | |
| 216 | { | ||
| 217 | LOG_TRACE("{}: called", nameId()); | ||
| 218 | |||
| 219 | ✗ | FileReader::deinitialize(); | |
| 220 | ✗ | } | |
| 221 | |||
| 222 | ✗ | bool NAV::PosVelAttFile::resetNode() | |
| 223 | { | ||
| 224 | ✗ | FileReader::resetReader(); | |
| 225 | |||
| 226 | ✗ | return true; | |
| 227 | } | ||
| 228 | |||
| 229 | ✗ | std::shared_ptr<const NAV::NodeData> NAV::PosVelAttFile::pollData() | |
| 230 | { | ||
| 231 | ✗ | std::shared_ptr<Pos> obs; | |
| 232 | ✗ | switch (_fileContent) | |
| 233 | { | ||
| 234 | ✗ | case FileContent::Pos: | |
| 235 | ✗ | obs = std::make_shared<Pos>(); | |
| 236 | ✗ | break; | |
| 237 | ✗ | case FileContent::PosVel: | |
| 238 | ✗ | obs = std::make_shared<PosVel>(); | |
| 239 | ✗ | break; | |
| 240 | ✗ | case FileContent::PosVelAtt: | |
| 241 | ✗ | obs = std::make_shared<PosVelAtt>(); | |
| 242 | ✗ | break; | |
| 243 | } | ||
| 244 | |||
| 245 | // Read line | ||
| 246 | ✗ | std::string line; | |
| 247 | ✗ | getline(line); | |
| 248 | // Remove any starting non text characters | ||
| 249 | ✗ | line.erase(line.begin(), std::ranges::find_if(line, [](int ch) { return std::isgraph(ch); })); | |
| 250 | |||
| 251 | ✗ | if (line.empty()) | |
| 252 | { | ||
| 253 | ✗ | return nullptr; | |
| 254 | } | ||
| 255 | |||
| 256 | // Convert line into stream | ||
| 257 | ✗ | std::stringstream lineStream(line); | |
| 258 | ✗ | std::string cell; | |
| 259 | |||
| 260 | ✗ | std::optional<uint16_t> gpsCycle = 0; | |
| 261 | ✗ | std::optional<uint16_t> gpsWeek; | |
| 262 | ✗ | std::optional<long double> gpsToW; | |
| 263 | ✗ | std::optional<double> e_position_x; | |
| 264 | ✗ | std::optional<double> e_position_y; | |
| 265 | ✗ | std::optional<double> e_position_z; | |
| 266 | ✗ | std::optional<double> e_positionStdDev_x; | |
| 267 | ✗ | std::optional<double> e_positionStdDev_y; | |
| 268 | ✗ | std::optional<double> e_positionStdDev_z; | |
| 269 | ✗ | std::optional<double> lla_position_x; | |
| 270 | ✗ | std::optional<double> lla_position_y; | |
| 271 | ✗ | std::optional<double> lla_position_z; | |
| 272 | ✗ | std::optional<double> n_positionStdDev_n; | |
| 273 | ✗ | std::optional<double> n_positionStdDev_e; | |
| 274 | ✗ | std::optional<double> n_positionStdDev_d; | |
| 275 | ✗ | std::optional<double> e_velocity_x; | |
| 276 | ✗ | std::optional<double> e_velocity_y; | |
| 277 | ✗ | std::optional<double> e_velocity_z; | |
| 278 | ✗ | std::optional<double> e_velocityStdDev_x; | |
| 279 | ✗ | std::optional<double> e_velocityStdDev_y; | |
| 280 | ✗ | std::optional<double> e_velocityStdDev_z; | |
| 281 | ✗ | std::optional<double> n_velocity_n; | |
| 282 | ✗ | std::optional<double> n_velocity_e; | |
| 283 | ✗ | std::optional<double> n_velocity_d; | |
| 284 | ✗ | std::optional<double> n_velocityStdDev_n; | |
| 285 | ✗ | std::optional<double> n_velocityStdDev_e; | |
| 286 | ✗ | std::optional<double> n_velocityStdDev_d; | |
| 287 | ✗ | std::optional<double> n_Quat_b_w; | |
| 288 | ✗ | std::optional<double> n_Quat_b_x; | |
| 289 | ✗ | std::optional<double> n_Quat_b_y; | |
| 290 | ✗ | std::optional<double> n_Quat_b_z; | |
| 291 | ✗ | std::optional<double> roll; | |
| 292 | ✗ | std::optional<double> pitch; | |
| 293 | ✗ | std::optional<double> yaw; | |
| 294 | |||
| 295 | // Split line at comma | ||
| 296 | ✗ | for (const auto& column : _headerColumns) | |
| 297 | { | ||
| 298 | ✗ | if (std::getline(lineStream, cell, ',')) | |
| 299 | { | ||
| 300 | // Remove any trailing non text characters | ||
| 301 | ✗ | cell.erase(std::ranges::find_if(cell, [](int ch) { return std::iscntrl(ch); }), cell.end()); | |
| 302 | ✗ | if (cell.empty()) | |
| 303 | { | ||
| 304 | ✗ | continue; | |
| 305 | } | ||
| 306 | |||
| 307 | ✗ | if (column == "GpsCycle") { gpsCycle = static_cast<uint16_t>(std::stoul(cell)); } | |
| 308 | ✗ | else if (column == "GpsWeek") { gpsWeek = static_cast<uint16_t>(std::stoul(cell)); } | |
| 309 | ✗ | else if (column == "GpsToW [s]") { gpsToW = std::stold(cell); } | |
| 310 | |||
| 311 | ✗ | else if (column == "Pos ECEF X [m]") { e_position_x = std::stod(cell); } | |
| 312 | ✗ | else if (column == "Pos ECEF Y [m]") { e_position_y = std::stod(cell); } | |
| 313 | ✗ | else if (column == "Pos ECEF Z [m]") { e_position_z = std::stod(cell); } | |
| 314 | ✗ | else if (column == "Pos StdDev ECEF X [m]") { e_positionStdDev_x = std::stod(cell); } | |
| 315 | ✗ | else if (column == "Pos StdDev ECEF Y [m]") { e_positionStdDev_y = std::stod(cell); } | |
| 316 | ✗ | else if (column == "Pos StdDev ECEF Z [m]") { e_positionStdDev_z = std::stod(cell); } | |
| 317 | |||
| 318 | ✗ | else if (column == "Latitude [deg]") { lla_position_x = deg2rad(std::stod(cell)); } | |
| 319 | ✗ | else if (column == "Longitude [deg]") { lla_position_y = deg2rad(std::stod(cell)); } | |
| 320 | ✗ | else if (column == "Altitude [m]") { lla_position_z = std::stod(cell); } | |
| 321 | ✗ | else if (column == "Pos StdDev N [m]") { n_positionStdDev_n = deg2rad(std::stod(cell)); } | |
| 322 | ✗ | else if (column == "Pos StdDev E [m]") { n_positionStdDev_e = deg2rad(std::stod(cell)); } | |
| 323 | ✗ | else if (column == "Pos StdDev D [m]") { n_positionStdDev_d = std::stod(cell); } | |
| 324 | |||
| 325 | ✗ | else if (column == "Vel ECEF X [m/s]") { e_velocity_x = std::stod(cell); } | |
| 326 | ✗ | else if (column == "Vel ECEF Y [m/s]") { e_velocity_y = std::stod(cell); } | |
| 327 | ✗ | else if (column == "Vel ECEF Z [m/s]") { e_velocity_z = std::stod(cell); } | |
| 328 | ✗ | else if (column == "Vel StdDev ECEF X [m/s]") { e_velocityStdDev_x = std::stod(cell); } | |
| 329 | ✗ | else if (column == "Vel StdDev ECEF Y [m/s]") { e_velocityStdDev_y = std::stod(cell); } | |
| 330 | ✗ | else if (column == "Vel StdDev ECEF Z [m/s]") { e_velocityStdDev_z = std::stod(cell); } | |
| 331 | |||
| 332 | ✗ | else if (column == "Vel N [m/s]") { n_velocity_n = std::stod(cell); } | |
| 333 | ✗ | else if (column == "Vel E [m/s]") { n_velocity_e = std::stod(cell); } | |
| 334 | ✗ | else if (column == "Vel D [m/s]") { n_velocity_d = std::stod(cell); } | |
| 335 | ✗ | else if (column == "Vel StdDev N [m/s]") { n_velocityStdDev_n = std::stod(cell); } | |
| 336 | ✗ | else if (column == "Vel StdDev E [m/s]") { n_velocityStdDev_e = std::stod(cell); } | |
| 337 | ✗ | else if (column == "Vel StdDev D [m/s]") { n_velocityStdDev_d = std::stod(cell); } | |
| 338 | |||
| 339 | ✗ | else if (column == "n_Quat_b w") { n_Quat_b_w = std::stod(cell); } | |
| 340 | ✗ | else if (column == "n_Quat_b x") { n_Quat_b_x = std::stod(cell); } | |
| 341 | ✗ | else if (column == "n_Quat_b y") { n_Quat_b_y = std::stod(cell); } | |
| 342 | ✗ | else if (column == "n_Quat_b z") { n_Quat_b_z = std::stod(cell); } | |
| 343 | |||
| 344 | ✗ | else if (column == "Roll [deg]") { roll = deg2rad(std::stod(cell)); } | |
| 345 | ✗ | else if (column == "Pitch [deg]") { pitch = deg2rad(std::stod(cell)); } | |
| 346 | ✗ | else if (column == "Yaw [deg]") { yaw = deg2rad(std::stod(cell)); } | |
| 347 | } | ||
| 348 | } | ||
| 349 | |||
| 350 | ✗ | if (gpsCycle.has_value() && gpsWeek.has_value() && gpsToW.has_value()) | |
| 351 | { | ||
| 352 | ✗ | obs->insTime = InsTime(gpsCycle.value(), gpsWeek.value(), gpsToW.value()); | |
| 353 | } | ||
| 354 | else | ||
| 355 | { | ||
| 356 | ✗ | LOG_WARN("{}: A PosVelAtt File needs a time.", nameId()); | |
| 357 | ✗ | return nullptr; | |
| 358 | } | ||
| 359 | |||
| 360 | ✗ | if (e_position_x.has_value() && e_position_y.has_value() && e_position_z.has_value()) | |
| 361 | { | ||
| 362 | ✗ | if (e_positionStdDev_x.has_value() && e_positionStdDev_y.has_value() && e_positionStdDev_z.has_value()) | |
| 363 | { | ||
| 364 | ✗ | obs->setPositionAndStdDev_e(Eigen::Vector3d{ e_position_x.value(), e_position_y.value(), e_position_z.value() }, | |
| 365 | ✗ | Eigen::DiagonalMatrix<double, 3>{ e_positionStdDev_x.value(), e_positionStdDev_y.value(), e_positionStdDev_z.value() }.toDenseMatrix()); | |
| 366 | } | ||
| 367 | else | ||
| 368 | { | ||
| 369 | ✗ | obs->setPosition_e(Eigen::Vector3d{ e_position_x.value(), e_position_y.value(), e_position_z.value() }); | |
| 370 | } | ||
| 371 | } | ||
| 372 | ✗ | else if (lla_position_x.has_value() && lla_position_y.has_value() && lla_position_z.has_value()) | |
| 373 | { | ||
| 374 | ✗ | if (n_positionStdDev_n.has_value() && n_positionStdDev_e.has_value() && n_positionStdDev_d.has_value()) | |
| 375 | { | ||
| 376 | ✗ | obs->setPositionAndStdDev_lla(Eigen::Vector3d{ lla_position_x.value(), lla_position_y.value(), lla_position_z.value() }, | |
| 377 | ✗ | Eigen::DiagonalMatrix<double, 3>{ n_positionStdDev_n.value(), n_positionStdDev_e.value(), n_positionStdDev_d.value() }.toDenseMatrix()); | |
| 378 | } | ||
| 379 | else | ||
| 380 | { | ||
| 381 | ✗ | obs->setPosition_lla(Eigen::Vector3d{ lla_position_x.value(), lla_position_y.value(), lla_position_z.value() }); | |
| 382 | } | ||
| 383 | } | ||
| 384 | else | ||
| 385 | { | ||
| 386 | ✗ | LOG_WARN("{}: A PosVelAtt File needs a position.", nameId()); | |
| 387 | ✗ | return nullptr; | |
| 388 | } | ||
| 389 | |||
| 390 | ✗ | if (_fileContent == FileContent::PosVel || _fileContent == FileContent::PosVelAtt) | |
| 391 | { | ||
| 392 | ✗ | if (e_velocity_x.has_value() && e_velocity_y.has_value() && e_velocity_z.has_value()) | |
| 393 | { | ||
| 394 | ✗ | if (auto posVel = std::reinterpret_pointer_cast<PosVel>(obs)) | |
| 395 | { | ||
| 396 | ✗ | if (e_velocityStdDev_x.has_value() && e_velocityStdDev_y.has_value() && e_velocityStdDev_z.has_value()) | |
| 397 | { | ||
| 398 | ✗ | posVel->setVelocityAndStdDev_e(Eigen::Vector3d{ e_velocity_x.value(), e_velocity_y.value(), e_velocity_z.value() }, | |
| 399 | ✗ | Eigen::DiagonalMatrix<double, 3>{ e_velocityStdDev_x.value(), e_velocityStdDev_y.value(), e_velocityStdDev_z.value() }.toDenseMatrix()); | |
| 400 | } | ||
| 401 | else | ||
| 402 | { | ||
| 403 | ✗ | posVel->setVelocity_e(Eigen::Vector3d{ e_velocity_x.value(), e_velocity_y.value(), e_velocity_z.value() }); | |
| 404 | } | ||
| 405 | ✗ | } | |
| 406 | } | ||
| 407 | ✗ | else if (n_velocity_n.has_value() && n_velocity_e.has_value() && n_velocity_d.has_value()) | |
| 408 | { | ||
| 409 | ✗ | if (auto posVel = std::reinterpret_pointer_cast<PosVel>(obs)) | |
| 410 | { | ||
| 411 | ✗ | if (n_velocityStdDev_n.has_value() && n_velocityStdDev_e.has_value() && n_velocityStdDev_d.has_value()) | |
| 412 | { | ||
| 413 | ✗ | posVel->setVelocityAndStdDev_n(Eigen::Vector3d{ n_velocity_n.value(), n_velocity_e.value(), n_velocity_d.value() }, | |
| 414 | ✗ | Eigen::DiagonalMatrix<double, 3>{ n_velocityStdDev_n.value(), n_velocityStdDev_e.value(), n_velocityStdDev_d.value() }.toDenseMatrix()); | |
| 415 | } | ||
| 416 | else | ||
| 417 | { | ||
| 418 | ✗ | posVel->setVelocity_n(Eigen::Vector3d{ n_velocity_n.value(), n_velocity_e.value(), n_velocity_d.value() }); | |
| 419 | } | ||
| 420 | ✗ | } | |
| 421 | } | ||
| 422 | } | ||
| 423 | |||
| 424 | ✗ | if (_fileContent == FileContent::PosVelAtt) | |
| 425 | { | ||
| 426 | ✗ | if (n_Quat_b_w.has_value() && n_Quat_b_x.has_value() && n_Quat_b_y.has_value() && n_Quat_b_z.has_value()) | |
| 427 | { | ||
| 428 | ✗ | if (auto posVelAtt = std::reinterpret_pointer_cast<PosVelAtt>(obs)) | |
| 429 | { | ||
| 430 | ✗ | posVelAtt->setAttitude_n_Quat_b(Eigen::Quaterniond{ n_Quat_b_w.value(), n_Quat_b_x.value(), n_Quat_b_y.value(), n_Quat_b_z.value() }); | |
| 431 | ✗ | } | |
| 432 | } | ||
| 433 | ✗ | else if (roll.has_value() && pitch.has_value() && yaw.has_value()) | |
| 434 | { | ||
| 435 | ✗ | if (auto posVelAtt = std::reinterpret_pointer_cast<PosVelAtt>(obs)) | |
| 436 | { | ||
| 437 | ✗ | posVelAtt->setAttitude_n_Quat_b(trafo::n_Quat_b(roll.value(), pitch.value(), yaw.value())); | |
| 438 | ✗ | } | |
| 439 | } | ||
| 440 | } | ||
| 441 | |||
| 442 | ✗ | invokeCallbacks(OUTPUT_PORT_INDEX_PVA, obs); | |
| 443 | ✗ | return obs; | |
| 444 | ✗ | } | |
| 445 |