INSTINCT Code Coverage Report

Directory: src/
File: Nodes/DataProvider/State/PosVelAttFile.cpp
Date: 2025-07-19 10:51:51
Exec Total Coverage
Lines: 168 293 57.3%
Functions: 12 16 75.0%
Branches: 276 1108 24.9%
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
24 115 NAV::PosVelAttFile::PosVelAttFile()
25
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 115 : Node(typeStatic())
26 {
27 LOG_TRACE("{}: called", name);
28
29 115 _hasConfig = true;
30 115 _guiConfigDefaultWindowSize = { 488, 248 };
31
32
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 575 nm::CreateOutputPin(this, "PosVelAtt", Pin::Type::Flow, { Pos::type(), PosVel::type(), PosVelAtt::type() }, &PosVelAttFile::pollData);
33
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 230 nm::CreateOutputPin(this, "Header Columns", Pin::Type::Object, { "std::vector<std::string>" }, &_headerColumns);
34 230 }
35
36 232 NAV::PosVelAttFile::~PosVelAttFile()
37 {
38 LOG_TRACE("{}: called", nameId());
39 232 }
40
41 229 std::string NAV::PosVelAttFile::typeStatic()
42 {
43
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 458 return "PosVelAttFile";
44 }
45
46 ✗ std::string NAV::PosVelAttFile::type() const
47 {
48 ✗ return typeStatic();
49 }
50
51 114 std::string NAV::PosVelAttFile::category()
52 {
53
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 228 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 std::vector<const char*>& searchTexts) {
83 ✗ ImGui::TableSetColumnIndex(index);
84 ✗ for (const auto& text : searchTexts)
85 {
86 ✗ if (std::ranges::find(_headerColumns, text) != _headerColumns.end())
87 {
88 ✗ ImGui::TextUnformatted(text);
89 ✗ return;
90 }
91 }
92
93 ✗ ImGui::TextDisabled("%s", searchTexts.front());
94 ✗ };
95
96 ✗ ImGui::TableNextRow();
97 ✗ TextColoredIfExists(0, { "GpsCycle" });
98 ✗ TextColoredIfExists(1, { "X-ECEF [m]", "Pos ECEF X [m]" });
99 ✗ TextColoredIfExists(2, { "X velocity ECEF [m/s]", "Vel ECEF X [m/s]" });
100 ✗ TextColoredIfExists(3, { "n_Quat_b w" });
101 ✗ ImGui::TableNextRow();
102 ✗ TextColoredIfExists(0, { "GpsWeek" });
103 ✗ TextColoredIfExists(1, { "Y-ECEF [m]", "Pos ECEF Y [m]" });
104 ✗ TextColoredIfExists(2, { "Y velocity ECEF [m/s]", "Vel ECEF Y [m/s]" });
105 ✗ TextColoredIfExists(3, { "n_Quat_b x" });
106 ✗ ImGui::TableNextRow();
107 ✗ TextColoredIfExists(0, { "GpsToW [s]" });
108 ✗ TextColoredIfExists(1, { "Z-ECEF [m]", "Pos ECEF Z [m]" });
109 ✗ TextColoredIfExists(2, { "Z velocity ECEF [m/s]", "Vel ECEF Z [m/s]" });
110 ✗ TextColoredIfExists(3, { "n_Quat_b y" });
111 ✗ ImGui::TableNextRow();
112 ✗ TextColoredIfExists(1, { "Latitude [deg]" });
113 ✗ TextColoredIfExists(2, { "North velocity [m/s]", "Vel N [m/s]" });
114 ✗ TextColoredIfExists(3, { "n_Quat_b z" });
115 ✗ ImGui::TableNextRow();
116 ✗ TextColoredIfExists(1, { "Longitude [deg]" });
117 ✗ TextColoredIfExists(2, { "East velocity [m/s]", "Vel E [m/s]" });
118 ✗ TextColoredIfExists(3, { "Roll [deg]" });
119 ✗ ImGui::TableNextRow();
120 ✗ TextColoredIfExists(1, { "Altitude [m]" });
121 ✗ TextColoredIfExists(2, { "Down velocity [m/s]", "Vel D [m/s]" });
122 ✗ TextColoredIfExists(3, { "Pitch [deg]" });
123 ✗ ImGui::TableNextRow();
124 ✗ TextColoredIfExists(3, { "Yaw [deg]" });
125
126 ✗ ImGui::EndTable();
127 }
128 ✗ }
129
130 ✗ [[nodiscard]] json NAV::PosVelAttFile::save() const
131 {
132 LOG_TRACE("{}: called", nameId());
133
134 ✗ json j;
135
136 ✗ j["FileReader"] = FileReader::save();
137 ✗ j["pinType"] = outputPins[OUTPUT_PORT_INDEX_PVA].dataIdentifier;
138
139 ✗ return j;
140 ✗ }
141
142 1 void NAV::PosVelAttFile::restore(json const& j)
143 {
144 LOG_TRACE("{}: called", nameId());
145
146
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 1 if (j.contains("FileReader"))
147 {
148 1 FileReader::restore(j.at("FileReader"));
149 }
150
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 1 if (j.contains("pinType"))
151 {
152 1 j.at("pinType").get_to(outputPins[OUTPUT_PORT_INDEX_PVA].dataIdentifier);
153 }
154 1 }
155
156 1 bool NAV::PosVelAttFile::initialize()
157 {
158 LOG_TRACE("{}: called", nameId());
159
160
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 1 if (FileReader::initialize())
161 {
162
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 14 for (auto& col : _headerColumns)
163 {
164
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 52 str::replace(col, "GpsTow [s]", "GpsToW [s]");
165 }
166
167 19 auto hasCol = [&](const char* text) {
168
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 19 return std::ranges::find(_headerColumns, text) != _headerColumns.end();
169 1 };
170
171
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 1 if (!hasCol("GpsCycle") || !hasCol("GpsWeek") || !hasCol("GpsToW [s]"))
172 {
173 ✗ LOG_ERROR("{}: A PosVelAtt File needs a time. Please add columns 'GpsCycle', 'GpsWeek' and 'GpsToW [s]'.", nameId());
174 ✗ return false;
175 }
176
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 2 if (!((hasCol("X-ECEF [m]") || hasCol("Pos ECEF X [m]"))
177
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 1 && (hasCol("Y-ECEF [m]") || hasCol("Pos ECEF Y [m]"))
178
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 1 && (hasCol("Z-ECEF [m]") || hasCol("Pos ECEF Z [m]")))
179
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 2 && !(hasCol("Latitude [deg]") && hasCol("Longitude [deg]") && hasCol("Altitude [m]")))
180 {
181 ✗ LOG_ERROR("{}: A PosVelAtt File needs a position. Please provide"
182 " either 'X-ECEF [m]', 'Y-ECEF [m]', 'Z-ECEF [m]'"
183 " or 'Latitude [deg]', 'Longitude [deg]', 'Altitude [m]'.",
184 nameId());
185 ✗ return false;
186 }
187 1 _fileContent = FileContent::Pos;
188
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 3 outputPins[OUTPUT_PORT_INDEX_PVA].dataIdentifier = std::vector{ Pos::type() };
189
190
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 2 if (((hasCol("X velocity ECEF [m/s]") || hasCol("Vel ECEF X [m/s]"))
191
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 1 && (hasCol("Y velocity ECEF [m/s]") || hasCol("Vel ECEF Y [m/s]"))
192
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 1 && (hasCol("Z velocity ECEF [m/s]") || hasCol("Vel ECEF Z [m/s]")))
193
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 2 || ((hasCol("North velocity [m/s]") || hasCol("Vel N [m/s]"))
194 ✗ && (hasCol("East velocity [m/s]") || hasCol("Vel E [m/s]"))
195 ✗ && (hasCol("Down velocity [m/s]") || hasCol("Vel D [m/s]"))))
196 {
197 1 _fileContent = FileContent::PosVel;
198
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 3 outputPins[OUTPUT_PORT_INDEX_PVA].dataIdentifier = std::vector{ PosVel::type() };
199
200
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 1 if ((hasCol("n_Quat_b w") && hasCol("n_Quat_b x") && hasCol("n_Quat_b y") && hasCol("n_Quat_b z"))
201
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 1 || (hasCol("Roll [deg]") && hasCol("Pitch [deg]") && hasCol("Yaw [deg]")))
202 {
203 1 _fileContent = FileContent::PosVelAtt;
204
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 3 outputPins[OUTPUT_PORT_INDEX_PVA].dataIdentifier = std::vector{ PosVelAtt::type() };
205 }
206 }
207
208
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 3 for (auto& link : outputPins[OUTPUT_PORT_INDEX_PVA].links)
209 {
210
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 2 if (auto* pin = link.getConnectedPin())
211 {
212
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 2 outputPins[OUTPUT_PORT_INDEX_PVA].recreateLink(*pin);
213 }
214 }
215
216 1 return true;
217 }
218
219 ✗ outputPins[OUTPUT_PORT_INDEX_PVA].dataIdentifier = { Pos::type(), PosVel::type(), PosVelAtt::type() };
220 ✗ return false;
221 3 }
222
223 1 void NAV::PosVelAttFile::deinitialize()
224 {
225 LOG_TRACE("{}: called", nameId());
226
227 1 FileReader::deinitialize();
228 1 }
229
230 2 bool NAV::PosVelAttFile::resetNode()
231 {
232 2 FileReader::resetReader();
233
234 2 return true;
235 }
236
237 6003 std::shared_ptr<const NAV::NodeData> NAV::PosVelAttFile::pollData()
238 {
239 6003 std::shared_ptr<Pos> obs;
240
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 6003 switch (_fileContent)
241 {
242 ✗ case FileContent::Pos:
243 ✗ obs = std::make_shared<Pos>();
244 ✗ break;
245 ✗ case FileContent::PosVel:
246 ✗ obs = std::make_shared<PosVel>();
247 ✗ break;
248 6003 case FileContent::PosVelAtt:
249
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 6003 obs = std::make_shared<PosVelAtt>();
250 6003 break;
251 }
252
253 // Read line
254 12006 std::string line;
255
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 6003 getline(line);
256 // Remove any starting non text characters
257
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 12005 line.erase(line.begin(), std::ranges::find_if(line, [](int ch) { return std::isgraph(ch); }));
258
259
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 6003 if (line.empty())
260 {
261 1 return nullptr;
262 }
263
264 // Convert line into stream
265
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 12004 std::stringstream lineStream(line);
266 12004 std::string cell;
267
268 6002 std::optional<uint16_t> gpsCycle = 0;
269 6002 std::optional<uint16_t> gpsWeek;
270 6002 std::optional<long double> gpsToW;
271 6002 std::optional<double> e_position_x;
272 6002 std::optional<double> e_position_y;
273 6002 std::optional<double> e_position_z;
274 6002 std::optional<double> e_positionStdDev_x;
275 6002 std::optional<double> e_positionStdDev_y;
276 6002 std::optional<double> e_positionStdDev_z;
277 6002 std::optional<double> lla_position_x;
278 6002 std::optional<double> lla_position_y;
279 6002 std::optional<double> lla_position_z;
280 6002 std::optional<double> n_positionStdDev_n;
281 6002 std::optional<double> n_positionStdDev_e;
282 6002 std::optional<double> n_positionStdDev_d;
283 6002 std::optional<double> e_velocity_x;
284 6002 std::optional<double> e_velocity_y;
285 6002 std::optional<double> e_velocity_z;
286 6002 std::optional<double> e_velocityStdDev_x;
287 6002 std::optional<double> e_velocityStdDev_y;
288 6002 std::optional<double> e_velocityStdDev_z;
289 6002 std::optional<double> n_velocity_n;
290 6002 std::optional<double> n_velocity_e;
291 6002 std::optional<double> n_velocity_d;
292 6002 std::optional<double> n_velocityStdDev_n;
293 6002 std::optional<double> n_velocityStdDev_e;
294 6002 std::optional<double> n_velocityStdDev_d;
295 6002 std::optional<double> n_Quat_b_w;
296 6002 std::optional<double> n_Quat_b_x;
297 6002 std::optional<double> n_Quat_b_y;
298 6002 std::optional<double> n_Quat_b_z;
299 6002 std::optional<double> roll;
300 6002 std::optional<double> pitch;
301 6002 std::optional<double> yaw;
302
303 // Split line at comma
304
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 84028 for (const auto& column : _headerColumns)
305 {
306
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 78026 if (std::getline(lineStream, cell, ','))
307 {
308 // Remove any trailing non text characters
309
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 607423 cell.erase(std::ranges::find_if(cell, [](int ch) { return std::iscntrl(ch); }), cell.end());
310
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 78026 if (cell.empty())
311 {
312 ✗ continue;
313 }
314
315
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 78026 if (column == "GpsCycle") { gpsCycle = static_cast<uint16_t>(std::stoul(cell)); }
316
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 72024 else if (column == "GpsWeek") { gpsWeek = static_cast<uint16_t>(std::stoul(cell)); }
317
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 66022 else if (column == "GpsToW [s]") { gpsToW = std::stold(cell); }
318
319
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 60020 else if (column == "X-ECEF [m]" || column == "Pos ECEF X [m]") { e_position_x = std::stod(cell); }
320
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 54018 else if (column == "Y-ECEF [m]" || column == "Pos ECEF Y [m]") { e_position_y = std::stod(cell); }
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 48016 else if (column == "Z-ECEF [m]" || column == "Pos ECEF Z [m]") { e_position_z = std::stod(cell); }
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 42014 else if (column == "X-ECEF StDev [m]") { e_positionStdDev_x = std::stod(cell); }
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 42014 else if (column == "Y-ECEF StDev [m]") { e_positionStdDev_y = std::stod(cell); }
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 42014 else if (column == "Z-ECEF StDev [m]") { e_positionStdDev_z = std::stod(cell); }
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 42014 else if (column == "Latitude [deg]") { lla_position_x = deg2rad(std::stod(cell)); }
327
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 42014 else if (column == "Longitude [deg]") { lla_position_y = deg2rad(std::stod(cell)); }
328
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 42014 else if (column == "Altitude [m]") { lla_position_z = std::stod(cell); }
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 42014 else if (column == "North StDev [m]") { n_positionStdDev_n = deg2rad(std::stod(cell)); }
330
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 42014 else if (column == "East StDev [m]") { n_positionStdDev_e = deg2rad(std::stod(cell)); }
331
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 42014 else if (column == "Down StDev [m]") { n_positionStdDev_d = std::stod(cell); }
332
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 42014 else if (column == "X velocity ECEF [m/s]" || column == "Vel ECEF X [m/s]") { e_velocity_x = std::stod(cell); }
334
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 36012 else if (column == "Y velocity ECEF [m/s]" || column == "Vel ECEF Y [m/s]") { e_velocity_y = std::stod(cell); }
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 30010 else if (column == "Z velocity ECEF [m/s]" || column == "Vel ECEF Z [m/s]") { e_velocity_z = std::stod(cell); }
336
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 24008 else if (column == "X velocity ECEF StdDev [m/s]") { e_velocityStdDev_x = std::stod(cell); }
337
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 24008 else if (column == "Y velocity ECEF StdDev [m/s]") { e_velocityStdDev_y = std::stod(cell); }
338
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 24008 else if (column == "Z velocity ECEF StdDev [m/s]") { e_velocityStdDev_z = std::stod(cell); }
339
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 24008 else if (column == "North velocity [m/s]" || column == "Vel N [m/s]") { n_velocity_n = std::stod(cell); }
341
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 24008 else if (column == "East velocity [m/s]" || column == "Vel E [m/s]") { n_velocity_e = std::stod(cell); }
342
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 24008 else if (column == "Down velocity [m/s]" || column == "Vel D [m/s]") { n_velocity_d = std::stod(cell); }
343
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 24008 else if (column == "North velocity StDev [m/s]") { n_velocityStdDev_n = std::stod(cell); }
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 24008 else if (column == "East velocity StDev [m/s]") { n_velocityStdDev_e = std::stod(cell); }
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 24008 else if (column == "Down velocity StDev [m/s]") { n_velocityStdDev_d = std::stod(cell); }
346
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 24008 else if (column == "n_Quat_b w") { n_Quat_b_w = std::stod(cell); }
348
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 24008 else if (column == "n_Quat_b x") { n_Quat_b_x = std::stod(cell); }
349
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 24008 else if (column == "n_Quat_b y") { n_Quat_b_y = std::stod(cell); }
350
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 24008 else if (column == "n_Quat_b z") { n_Quat_b_z = std::stod(cell); }
351
352
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 24008 else if (column == "Roll [deg]") { roll = deg2rad(std::stod(cell)); }
353
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 18006 else if (column == "Pitch [deg]") { pitch = deg2rad(std::stod(cell)); }
354
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 12004 else if (column == "Yaw [deg]") { yaw = deg2rad(std::stod(cell)); }
355 }
356 }
357
358
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 6002 if (gpsCycle.has_value() && gpsWeek.has_value() && gpsToW.has_value())
359 {
360
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 6002 obs->insTime = InsTime(gpsCycle.value(), gpsWeek.value(), gpsToW.value());
361 }
362 else
363 {
364 ✗ LOG_WARN("{}: A PosVelAtt File needs a time.", nameId());
365 ✗ return nullptr;
366 }
367
368
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 6002 if (_fileContent == FileContent::PosVel || _fileContent == FileContent::PosVelAtt)
369 {
370
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 6002 if (e_velocity_x.has_value() && e_velocity_y.has_value() && e_velocity_z.has_value())
371 {
372
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 6002 auto lla_pos = lla_position_x.has_value() && lla_position_y.has_value() && lla_position_z.has_value()
373
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 6002 ? Eigen::Vector3d(*lla_position_x, *lla_position_y, *lla_position_z)
374
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 6002 : trafo::ecef2lla_WGS84(Eigen::Vector3d(*e_position_x, *e_position_y, *e_position_z));
375
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 6002 auto n_vel = trafo::n_Quat_e(lla_pos.x(), lla_pos.y()) * Eigen::Vector3d(*e_velocity_x, *e_velocity_y, *e_velocity_z);
376
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 6002 n_velocity_n = n_vel.x();
377
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 6002 n_velocity_e = n_vel.y();
378
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 6002 n_velocity_d = n_vel.z();
379 }
380 ✗ else if (n_velocity_n.has_value() && n_velocity_e.has_value() && n_velocity_d.has_value())
381 {
382 ✗ auto lla_pos = lla_position_x.has_value() && lla_position_y.has_value() && lla_position_z.has_value()
383 ✗ ? Eigen::Vector3d(*lla_position_x, *lla_position_y, *lla_position_z)
384 ✗ : trafo::ecef2lla_WGS84(Eigen::Vector3d(*e_position_x, *e_position_y, *e_position_z));
385 ✗ auto e_vel = trafo::e_Quat_n(lla_pos.x(), lla_pos.y()) * Eigen::Vector3d(*e_velocity_x, *e_velocity_y, *e_velocity_z);
386 ✗ e_velocity_x = e_vel.x();
387 ✗ e_velocity_y = e_vel.y();
388 ✗ e_velocity_z = e_vel.z();
389 }
390
391
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 12004 if (e_position_x.has_value() && e_position_y.has_value() && e_position_z.has_value()
392
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 12004 && e_velocity_x.has_value() && e_velocity_y.has_value() && e_velocity_z.has_value())
393 {
394
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 6002 if (auto posVel = std::reinterpret_pointer_cast<PosVel>(obs))
395 {
396
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 6002 if (e_positionStdDev_x.has_value() && e_positionStdDev_y.has_value() && e_positionStdDev_z.has_value()
397
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 6002 && e_velocityStdDev_x.has_value() && e_velocityStdDev_y.has_value() && e_velocityStdDev_z.has_value())
398 {
399 ;
400 ✗ posVel->setPosVelAndCov_e(Eigen::Vector3d{ e_position_x.value(), e_position_y.value(), e_position_z.value() },
401 ✗ Eigen::Vector3d{ e_velocity_x.value(), e_velocity_y.value(), e_velocity_z.value() },
402 ✗ (Eigen::Vector6d() << e_positionStdDev_x.value(), e_positionStdDev_y.value(), e_positionStdDev_z.value(),
403 ✗ e_velocityStdDev_x.value(), e_velocityStdDev_y.value(), e_velocityStdDev_z.value())
404 ✗ .finished()
405 ✗ .asDiagonal()
406 ✗ .toDenseMatrix());
407 }
408 else
409 {
410
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 6002 posVel->setPosition_e(Eigen::Vector3d{ e_position_x.value(), e_position_y.value(), e_position_z.value() });
411
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 6002 posVel->setVelocity_e(Eigen::Vector3d{ e_velocity_x.value(), e_velocity_y.value(), e_velocity_z.value() });
412 }
413 6002 }
414 }
415 ✗ else if (lla_position_x.has_value() && lla_position_y.has_value() && lla_position_z.has_value()
416 ✗ && n_velocity_n.has_value() && n_velocity_e.has_value() && n_velocity_d.has_value())
417 {
418 ✗ if (auto posVel = std::reinterpret_pointer_cast<PosVel>(obs))
419 {
420 ✗ if (n_positionStdDev_n.has_value() && n_positionStdDev_e.has_value() && n_positionStdDev_d.has_value()
421 ✗ && n_velocityStdDev_n.has_value() && n_velocityStdDev_e.has_value() && n_velocityStdDev_d.has_value())
422 {
423 ✗ posVel->setPosVelAndCov_n(Eigen::Vector3d{ lla_position_x.value(), lla_position_y.value(), lla_position_z.value() },
424 ✗ Eigen::Vector3d{ n_velocity_n.value(), n_velocity_e.value(), n_velocity_d.value() },
425 ✗ (Eigen::Vector6d() << n_positionStdDev_n.value(), n_positionStdDev_e.value(), n_positionStdDev_d.value(),
426 ✗ n_velocityStdDev_n.value(), n_velocityStdDev_e.value(), n_velocityStdDev_d.value())
427 ✗ .finished()
428 ✗ .asDiagonal()
429 ✗ .toDenseMatrix());
430 }
431 else
432 {
433 ✗ posVel->setPosition_lla(Eigen::Vector3d{ lla_position_x.value(), lla_position_y.value(), lla_position_z.value() });
434 ✗ posVel->setVelocity_n(Eigen::Vector3d{ n_velocity_n.value(), n_velocity_e.value(), n_velocity_d.value() });
435 }
436 ✗ }
437 }
438 else
439 {
440 ✗ LOG_WARN("{}: A PosVel/PosVelAtt file needs a position and velocity.", nameId());
441 ✗ return nullptr;
442 }
443 6002 }
444 ✗ else if (_fileContent == FileContent::Pos)
445 {
446 ✗ if (e_position_x.has_value() && e_position_y.has_value() && e_position_z.has_value())
447 {
448 ✗ if (e_positionStdDev_x.has_value() && e_positionStdDev_y.has_value() && e_positionStdDev_z.has_value())
449 {
450 ✗ obs->setPositionAndCov_e(Eigen::Vector3d{ e_position_x.value(), e_position_y.value(), e_position_z.value() },
451 ✗ Eigen::DiagonalMatrix<double, 3>{ e_positionStdDev_x.value(), e_positionStdDev_y.value(), e_positionStdDev_z.value() }.toDenseMatrix());
452 }
453 else
454 {
455 ✗ obs->setPosition_e(Eigen::Vector3d{ e_position_x.value(), e_position_y.value(), e_position_z.value() });
456 }
457 }
458 ✗ else if (lla_position_x.has_value() && lla_position_y.has_value() && lla_position_z.has_value())
459 {
460 ✗ if (n_positionStdDev_n.has_value() && n_positionStdDev_e.has_value() && n_positionStdDev_d.has_value())
461 {
462 ✗ obs->setPositionAndCov_n(Eigen::Vector3d{ lla_position_x.value(), lla_position_y.value(), lla_position_z.value() },
463 ✗ Eigen::DiagonalMatrix<double, 3>{ n_positionStdDev_n.value(), n_positionStdDev_e.value(), n_positionStdDev_d.value() }.toDenseMatrix());
464 }
465 else
466 {
467 ✗ obs->setPosition_lla(Eigen::Vector3d{ lla_position_x.value(), lla_position_y.value(), lla_position_z.value() });
468 }
469 }
470 else
471 {
472 ✗ LOG_WARN("{}: A Pos file needs a position.", nameId());
473 ✗ return nullptr;
474 }
475 }
476
477
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 6002 if (_fileContent == FileContent::PosVelAtt)
478 {
479
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 6002 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())
480 {
481 ✗ if (auto posVelAtt = std::reinterpret_pointer_cast<PosVelAtt>(obs))
482 {
483 ✗ 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() });
484 ✗ }
485 }
486
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 6002 else if (roll.has_value() && pitch.has_value() && yaw.has_value())
487 {
488
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 6002 if (auto posVelAtt = std::reinterpret_pointer_cast<PosVelAtt>(obs))
489 {
490
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 6002 posVelAtt->setAttitude_n_Quat_b(trafo::n_Quat_b(roll.value(), pitch.value(), yaw.value()));
491 6002 }
492 }
493 }
494
495
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 6002 invokeCallbacks(OUTPUT_PORT_INDEX_PVA, obs);
496 6002 return obs;
497 6003 }
498