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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 | #include "Units.hpp" | ||
| 10 | |||
| 11 | #include <cmath> | ||
| 12 | #include "util/Logger.hpp" | ||
| 13 | #include "Navigation/Transformations/Units.hpp" | ||
| 14 | |||
| 15 | namespace NAV::Units | ||
| 16 | { | ||
| 17 | |||
| 18 | ✗ | void to_json(json& j, const CovarianceAccelUnits& data) | |
| 19 | { | ||
| 20 | ✗ | j = to_string(data); | |
| 21 | ✗ | } | |
| 22 | ✗ | void from_json(const json& j, CovarianceAccelUnits& data) | |
| 23 | { | ||
| 24 | ✗ | if (!j.is_string()) | |
| 25 | { | ||
| 26 | ✗ | LOG_WARN("Could not parse '{}' into CovarianceAccelUnits. Consider resaving the flow", j.dump()); | |
| 27 | ✗ | return; | |
| 28 | } | ||
| 29 | ✗ | std::string str = j.get<std::string>(); | |
| 30 | ✗ | for (size_t i = 0; i < static_cast<size_t>(CovarianceAccelUnits::COUNT); i++) | |
| 31 | { | ||
| 32 | ✗ | auto enumItem = static_cast<CovarianceAccelUnits>(i); | |
| 33 | ✗ | if (str == to_string(enumItem)) | |
| 34 | { | ||
| 35 | ✗ | data = enumItem; | |
| 36 | ✗ | return; | |
| 37 | } | ||
| 38 | } | ||
| 39 | ✗ | } | |
| 40 | |||
| 41 | ✗ | void to_json(json& j, const CovarianceAngularVelocityUnits& data) | |
| 42 | { | ||
| 43 | ✗ | j = to_string(data); | |
| 44 | ✗ | } | |
| 45 | ✗ | void from_json(const json& j, CovarianceAngularVelocityUnits& data) | |
| 46 | { | ||
| 47 | ✗ | if (!j.is_string()) | |
| 48 | { | ||
| 49 | ✗ | LOG_WARN("Could not parse '{}' into CovarianceAngularVelocityUnits. Consider resaving the flow", j.dump()); | |
| 50 | ✗ | return; | |
| 51 | } | ||
| 52 | ✗ | std::string str = j.get<std::string>(); | |
| 53 | ✗ | for (size_t i = 0; i < static_cast<size_t>(CovarianceAngularVelocityUnits::COUNT); i++) | |
| 54 | { | ||
| 55 | ✗ | auto enumItem = static_cast<CovarianceAngularVelocityUnits>(i); | |
| 56 | ✗ | if (str == to_string(enumItem)) | |
| 57 | { | ||
| 58 | ✗ | data = enumItem; | |
| 59 | ✗ | return; | |
| 60 | } | ||
| 61 | } | ||
| 62 | ✗ | } | |
| 63 | |||
| 64 | ✗ | void to_json(json& j, const CovarianceClkPhaseDriftUnits& data) | |
| 65 | { | ||
| 66 | ✗ | j = to_string(data); | |
| 67 | ✗ | } | |
| 68 | ✗ | void from_json(const json& j, CovarianceClkPhaseDriftUnits& data) | |
| 69 | { | ||
| 70 | ✗ | if (!j.is_string()) | |
| 71 | { | ||
| 72 | ✗ | LOG_WARN("Could not parse '{}' into CovarianceClkPhaseDriftUnits. Consider resaving the flow", j.dump()); | |
| 73 | ✗ | return; | |
| 74 | } | ||
| 75 | ✗ | std::string str = j.get<std::string>(); | |
| 76 | ✗ | for (size_t i = 0; i < static_cast<size_t>(CovarianceClkPhaseDriftUnits::COUNT); i++) | |
| 77 | { | ||
| 78 | ✗ | auto enumItem = static_cast<CovarianceClkPhaseDriftUnits>(i); | |
| 79 | ✗ | if (str == to_string(enumItem)) | |
| 80 | { | ||
| 81 | ✗ | data = enumItem; | |
| 82 | ✗ | return; | |
| 83 | } | ||
| 84 | } | ||
| 85 | ✗ | } | |
| 86 | |||
| 87 | ✗ | void to_json(json& j, const CovarianceClkFrequencyDriftUnits& data) | |
| 88 | { | ||
| 89 | ✗ | j = to_string(data); | |
| 90 | ✗ | } | |
| 91 | ✗ | void from_json(const json& j, CovarianceClkFrequencyDriftUnits& data) | |
| 92 | { | ||
| 93 | ✗ | if (!j.is_string()) | |
| 94 | { | ||
| 95 | ✗ | LOG_WARN("Could not parse '{}' into CovarianceClkFrequencyDriftUnits. Consider resaving the flow", j.dump()); | |
| 96 | ✗ | return; | |
| 97 | } | ||
| 98 | ✗ | std::string str = j.get<std::string>(); | |
| 99 | ✗ | for (size_t i = 0; i < static_cast<size_t>(CovarianceClkFrequencyDriftUnits::COUNT); i++) | |
| 100 | { | ||
| 101 | ✗ | auto enumItem = static_cast<CovarianceClkFrequencyDriftUnits>(i); | |
| 102 | ✗ | if (str == to_string(enumItem)) | |
| 103 | { | ||
| 104 | ✗ | data = enumItem; | |
| 105 | ✗ | return; | |
| 106 | } | ||
| 107 | } | ||
| 108 | ✗ | } | |
| 109 | |||
| 110 | } // namespace NAV::Units | ||
| 111 | |||
| 112 | 42 | double NAV::convertUnit(const double& value, Units::CovarianceAccelUnits unit) | |
| 113 | { | ||
| 114 |
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42 | switch (unit) |
| 115 | { | ||
| 116 | ✗ | case Units::CovarianceAccelUnits::m2_s3: | |
| 117 | ✗ | return value; | |
| 118 | 42 | case Units::CovarianceAccelUnits::m_sqrts3: | |
| 119 | 42 | return std::pow(value, 2); | |
| 120 | ✗ | case Units::CovarianceAccelUnits::COUNT: | |
| 121 | ✗ | break; | |
| 122 | } | ||
| 123 | ✗ | return value; // Covariance of the acceleration 𝜎_a due to user motion in horizontal and vertical component [m²/s³] | |
| 124 | } | ||
| 125 | |||
| 126 | ✗ | double NAV::convertUnit(const double& value, Units::CovarianceAngularVelocityUnits unit) | |
| 127 | { | ||
| 128 | ✗ | switch (unit) | |
| 129 | { | ||
| 130 | ✗ | case Units::CovarianceAngularVelocityUnits::rad2_s: | |
| 131 | ✗ | return value; | |
| 132 | ✗ | case Units::CovarianceAngularVelocityUnits::rad_sqrts: | |
| 133 | ✗ | return std::pow(value, 2); | |
| 134 | ✗ | case Units::CovarianceAngularVelocityUnits::deg2_s: | |
| 135 | ✗ | return deg2rad(deg2rad(value)); | |
| 136 | ✗ | case Units::CovarianceAngularVelocityUnits::deg_sqrts: | |
| 137 | ✗ | return std::pow(deg2rad(value), 2); | |
| 138 | ✗ | case Units::CovarianceAngularVelocityUnits::deg2s_min2: | |
| 139 | ✗ | return deg2rad(deg2rad(value)) / 3600.0; | |
| 140 | ✗ | case Units::CovarianceAngularVelocityUnits::degsqrts_min: | |
| 141 | ✗ | return std::pow(deg2rad(value) / 60.0, 2); | |
| 142 | ✗ | case Units::CovarianceAngularVelocityUnits::COUNT: | |
| 143 | ✗ | break; | |
| 144 | } | ||
| 145 | ✗ | return value; // Covariance of the acceleration 𝜎_a due to user motion in horizontal and vertical component [m²/s³] | |
| 146 | } | ||
| 147 | |||
| 148 | 29 | double NAV::convertUnit(const double& value, Units::CovarianceClkPhaseDriftUnits unit) | |
| 149 | { | ||
| 150 |
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29 | switch (unit) |
| 151 | { | ||
| 152 | 29 | case Units::CovarianceClkPhaseDriftUnits::m2_s: | |
| 153 | 29 | return value; | |
| 154 | ✗ | case Units::CovarianceClkPhaseDriftUnits::m_sqrts: | |
| 155 | ✗ | return std::pow(value, 2); | |
| 156 | ✗ | case Units::CovarianceClkPhaseDriftUnits::COUNT: | |
| 157 | ✗ | break; | |
| 158 | } | ||
| 159 | ✗ | return value; // Covariance of the clock phase drift [m²/s] | |
| 160 | } | ||
| 161 | |||
| 162 | 21 | double NAV::convertUnit(const double& value, Units::CovarianceClkFrequencyDriftUnits unit) | |
| 163 | { | ||
| 164 |
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21 | switch (unit) |
| 165 | { | ||
| 166 | 21 | case Units::CovarianceClkFrequencyDriftUnits::m2_s3: | |
| 167 | 21 | return value; | |
| 168 | ✗ | case Units::CovarianceClkFrequencyDriftUnits::m_sqrts3: | |
| 169 | ✗ | return std::pow(value, 2); | |
| 170 | ✗ | case Units::CovarianceClkFrequencyDriftUnits::COUNT: | |
| 171 | ✗ | break; | |
| 172 | } | ||
| 173 | ✗ | return value; // Covariance of the frequency phase drift [m²/s³] | |
| 174 | } | ||
| 175 | |||
| 176 | ✗ | std::string NAV::to_string(Units::CovarianceAccelUnits unit) | |
| 177 | { | ||
| 178 | ✗ | switch (unit) | |
| 179 | { | ||
| 180 | ✗ | case Units::CovarianceAccelUnits::m2_s3: | |
| 181 | ✗ | return "m^2/s^3"; | |
| 182 | ✗ | case Units::CovarianceAccelUnits::m_sqrts3: | |
| 183 | ✗ | return "m/√(s^3)"; | |
| 184 | ✗ | case Units::CovarianceAccelUnits::COUNT: | |
| 185 | ✗ | break; | |
| 186 | } | ||
| 187 | ✗ | return ""; | |
| 188 | } | ||
| 189 | |||
| 190 | ✗ | std::string NAV::to_string(Units::CovarianceAngularVelocityUnits unit) | |
| 191 | { | ||
| 192 | ✗ | switch (unit) | |
| 193 | { | ||
| 194 | ✗ | case Units::CovarianceAngularVelocityUnits::rad2_s: | |
| 195 | ✗ | return "rad^2/s"; | |
| 196 | ✗ | case Units::CovarianceAngularVelocityUnits::rad_sqrts: | |
| 197 | ✗ | return "rad/√(s)"; | |
| 198 | ✗ | case Units::CovarianceAngularVelocityUnits::deg2_s: | |
| 199 | ✗ | return "deg^2/s"; | |
| 200 | ✗ | case Units::CovarianceAngularVelocityUnits::deg_sqrts: | |
| 201 | ✗ | return "deg/√(s)"; | |
| 202 | ✗ | case Units::CovarianceAngularVelocityUnits::deg2s_min2: | |
| 203 | ✗ | return "deg^2 s/min^2"; | |
| 204 | ✗ | case Units::CovarianceAngularVelocityUnits::degsqrts_min: | |
| 205 | ✗ | return "deg √(s)/min"; | |
| 206 | ✗ | case Units::CovarianceAngularVelocityUnits::COUNT: | |
| 207 | ✗ | break; | |
| 208 | } | ||
| 209 | ✗ | return ""; | |
| 210 | } | ||
| 211 | |||
| 212 | ✗ | std::string NAV::to_string(Units::CovarianceClkPhaseDriftUnits unit) | |
| 213 | { | ||
| 214 | ✗ | switch (unit) | |
| 215 | { | ||
| 216 | ✗ | case Units::CovarianceClkPhaseDriftUnits::m2_s: | |
| 217 | ✗ | return "m^2/s"; | |
| 218 | ✗ | case Units::CovarianceClkPhaseDriftUnits::m_sqrts: | |
| 219 | ✗ | return "m/√s"; | |
| 220 | ✗ | case Units::CovarianceClkPhaseDriftUnits::COUNT: | |
| 221 | ✗ | break; | |
| 222 | } | ||
| 223 | ✗ | return ""; | |
| 224 | } | ||
| 225 | |||
| 226 | ✗ | std::string NAV::to_string(Units::CovarianceClkFrequencyDriftUnits unit) | |
| 227 | { | ||
| 228 | ✗ | switch (unit) | |
| 229 | { | ||
| 230 | ✗ | case Units::CovarianceClkFrequencyDriftUnits::m2_s3: | |
| 231 | ✗ | return "m^2/s^3"; | |
| 232 | ✗ | case Units::CovarianceClkFrequencyDriftUnits::m_sqrts3: | |
| 233 | ✗ | return "m/√(s^3)"; | |
| 234 | ✗ | case Units::CovarianceClkFrequencyDriftUnits::COUNT: | |
| 235 | ✗ | break; | |
| 236 | } | ||
| 237 | ✗ | return ""; | |
| 238 | } | ||
| 239 |