INSTINCT Code Coverage Report

Directory: src/
File: Navigation/GNSS/Positioning/Units.cpp
Date: 2025-06-02 15:19:59
Exec Total Coverage
Lines: 0 211 0.0%
Functions: 0 25 0.0%
Branches: 0 221 0.0%
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 "Units.hpp"
10
11 #include <cmath>
12 #include "Navigation/Transformations/Units.hpp"
13 #include "util/Logger.hpp"
14
15 namespace NAV::Units
16 {
17
18 ✗ void to_json(json& j, const PositionUncertaintyUnits& data)
19 {
20 ✗ j = to_string(data);
21 ✗ }
22 ✗ void from_json(const json& j, PositionUncertaintyUnits& data)
23 {
24 ✗ if (!j.is_string())
25 {
26 ✗ LOG_WARN("Could not parse '{}' into PositionUncertaintyUnits. 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>(PositionUncertaintyUnits::COUNT); i++)
31 {
32 ✗ auto enumItem = static_cast<PositionUncertaintyUnits>(i);
33 ✗ if (str == to_string(enumItem))
34 {
35 ✗ data = enumItem;
36 ✗ return;
37 }
38 }
39 ✗ }
40
41 ✗ void to_json(json& j, const VelocityUncertaintyUnits& data)
42 {
43 ✗ j = to_string(data);
44 ✗ }
45 ✗ void from_json(const json& j, VelocityUncertaintyUnits& data)
46 {
47 ✗ if (!j.is_string())
48 {
49 ✗ LOG_WARN("Could not parse '{}' into VelocityUncertaintyUnits. 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>(VelocityUncertaintyUnits::COUNT); i++)
54 {
55 ✗ auto enumItem = static_cast<VelocityUncertaintyUnits>(i);
56 ✗ if (str == to_string(enumItem))
57 {
58 ✗ data = enumItem;
59 ✗ return;
60 }
61 }
62 ✗ }
63
64 ✗ void to_json(json& j, const AttitudeUncertaintyUnits& data)
65 {
66 ✗ j = to_string(data);
67 ✗ }
68 ✗ void from_json(const json& j, AttitudeUncertaintyUnits& data)
69 {
70 ✗ if (!j.is_string())
71 {
72 ✗ LOG_WARN("Could not parse '{}' into AttitudeUncertaintyUnits. 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>(AttitudeUncertaintyUnits::COUNT); i++)
77 {
78 ✗ auto enumItem = static_cast<AttitudeUncertaintyUnits>(i);
79 ✗ if (str == to_string(enumItem))
80 {
81 ✗ data = enumItem;
82 ✗ return;
83 }
84 }
85 ✗ }
86
87 ✗ void to_json(json& j, const VelocityUnits& data)
88 {
89 ✗ j = to_string(data);
90 ✗ }
91 ✗ void from_json(const json& j, VelocityUnits& data)
92 {
93 ✗ if (!j.is_string())
94 {
95 ✗ LOG_WARN("Could not parse '{}' into VelocityUnits. 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>(VelocityUnits::COUNT); i++)
100 {
101 ✗ auto enumItem = static_cast<VelocityUnits>(i);
102 ✗ if (str == to_string(enumItem))
103 {
104 ✗ data = enumItem;
105 ✗ return;
106 }
107 }
108 ✗ }
109
110 ✗ void to_json(json& j, const AttitudeUnits& data)
111 {
112 ✗ j = to_string(data);
113 ✗ }
114 ✗ void from_json(const json& j, AttitudeUnits& data)
115 {
116 ✗ if (!j.is_string())
117 {
118 ✗ LOG_WARN("Could not parse '{}' into AttitudeUnits. Consider resaving the flow", j.dump());
119 ✗ return;
120 }
121 ✗ std::string str = j.get<std::string>();
122 ✗ for (size_t i = 0; i < static_cast<size_t>(AttitudeUnits::COUNT); i++)
123 {
124 ✗ auto enumItem = static_cast<AttitudeUnits>(i);
125 ✗ if (str == to_string(enumItem))
126 {
127 ✗ data = enumItem;
128 ✗ return;
129 }
130 }
131 ✗ }
132
133 } // namespace NAV::Units
134
135 ✗ double NAV::convertUnit(const double& value, Units::PositionUncertaintyUnits unit)
136 {
137 ✗ switch (unit)
138 {
139 ✗ case Units::PositionUncertaintyUnits::meter:
140 ✗ return value;
141 ✗ case Units::PositionUncertaintyUnits::meter2:
142 ✗ return std::sqrt(value);
143 ✗ case Units::PositionUncertaintyUnits::COUNT:
144 ✗ break;
145 }
146 ✗ return value; // Position standard deviation [m]
147 }
148 ✗ Eigen::Vector3d NAV::convertUnit(const Eigen::Vector3d& value, Units::PositionUncertaintyUnits unit)
149 {
150 ✗ switch (unit)
151 {
152 ✗ case Units::PositionUncertaintyUnits::meter:
153 ✗ return value;
154 ✗ case Units::PositionUncertaintyUnits::meter2:
155 ✗ return value.array().sqrt();
156 ✗ case Units::PositionUncertaintyUnits::COUNT:
157 ✗ break;
158 }
159 ✗ return value; // Position standard deviation [m]
160 }
161
162 ✗ double NAV::convertUnit(const double& value, Units::VelocityUncertaintyUnits unit)
163 {
164 ✗ switch (unit)
165 {
166 ✗ case Units::VelocityUncertaintyUnits::m_s:
167 ✗ return value;
168 ✗ case Units::VelocityUncertaintyUnits::m2_s2:
169 ✗ return std::sqrt(value);
170 ✗ case Units::VelocityUncertaintyUnits::COUNT:
171 ✗ break;
172 }
173 ✗ return value; // Velocity standard deviation [m/s]
174 }
175 ✗ Eigen::Vector3d NAV::convertUnit(const Eigen::Vector3d& value, Units::VelocityUncertaintyUnits unit)
176 {
177 ✗ switch (unit)
178 {
179 ✗ case Units::VelocityUncertaintyUnits::m_s:
180 ✗ return value;
181 ✗ case Units::VelocityUncertaintyUnits::m2_s2:
182 ✗ return value.array().sqrt();
183 ✗ case Units::VelocityUncertaintyUnits::COUNT:
184 ✗ break;
185 }
186 ✗ return value; // Velocity standard deviation [m/s]
187 }
188
189 ✗ double NAV::convertUnit(const double& value, Units::AttitudeUncertaintyUnits unit)
190 {
191 ✗ switch (unit)
192 {
193 ✗ case Units::AttitudeUncertaintyUnits::rad:
194 ✗ return value;
195 ✗ case Units::AttitudeUncertaintyUnits::deg:
196 ✗ return deg2rad(value);
197 ✗ case Units::AttitudeUncertaintyUnits::rad2:
198 ✗ return std::sqrt(value);
199 ✗ case Units::AttitudeUncertaintyUnits::deg2:
200 ✗ return deg2rad(std::sqrt(value));
201 ✗ case Units::AttitudeUncertaintyUnits::COUNT:
202 ✗ break;
203 }
204 ✗ return value; // Attitude standard deviation [rad]
205 }
206 ✗ Eigen::Vector3d NAV::convertUnit(const Eigen::Vector3d& value, Units::AttitudeUncertaintyUnits unit)
207 {
208 ✗ switch (unit)
209 {
210 ✗ case Units::AttitudeUncertaintyUnits::rad:
211 ✗ return value;
212 ✗ case Units::AttitudeUncertaintyUnits::deg:
213 ✗ return deg2rad(value);
214 ✗ case Units::AttitudeUncertaintyUnits::rad2:
215 ✗ return value.array().sqrt();
216 ✗ case Units::AttitudeUncertaintyUnits::deg2:
217 ✗ return deg2rad(value.array().sqrt());
218 ✗ case Units::AttitudeUncertaintyUnits::COUNT:
219 ✗ break;
220 }
221 ✗ return value; // Attitude standard deviation [rad]
222 }
223
224 ✗ double NAV::convertUnit(const double& value, Units::VelocityUnits unit)
225 {
226 ✗ switch (unit)
227 {
228 ✗ case Units::VelocityUnits::m_s:
229 ✗ return value;
230 ✗ case Units::VelocityUnits::COUNT:
231 ✗ break;
232 }
233 ✗ return value; // [m/s]
234 }
235 ✗ Eigen::Vector3d NAV::convertUnit(const Eigen::Vector3d& value, Units::VelocityUnits unit)
236 {
237 ✗ switch (unit)
238 {
239 ✗ case Units::VelocityUnits::m_s:
240 ✗ return value;
241 ✗ case Units::VelocityUnits::COUNT:
242 ✗ break;
243 }
244 ✗ return value; // [m/s]
245 }
246
247 ✗ double NAV::convertUnit(const double& value, Units::AttitudeUnits unit)
248 {
249 ✗ switch (unit)
250 {
251 ✗ case Units::AttitudeUnits::rad:
252 ✗ return value;
253 ✗ case Units::AttitudeUnits::deg:
254 ✗ return deg2rad(value);
255 ✗ case Units::AttitudeUnits::COUNT:
256 ✗ break;
257 }
258 ✗ return value; // [rad]
259 }
260 ✗ Eigen::Vector3d NAV::convertUnit(const Eigen::Vector3d& value, Units::AttitudeUnits unit)
261 {
262 ✗ switch (unit)
263 {
264 ✗ case Units::AttitudeUnits::rad:
265 ✗ return value;
266 ✗ case Units::AttitudeUnits::deg:
267 ✗ return deg2rad(value);
268 ✗ case Units::AttitudeUnits::COUNT:
269 ✗ break;
270 }
271 ✗ return value; // [rad]
272 }
273
274 ✗ std::string NAV::to_string(Units::PositionUncertaintyUnits unit)
275 {
276 ✗ switch (unit)
277 {
278 ✗ case Units::PositionUncertaintyUnits::meter2:
279 ✗ return "m^2";
280 ✗ case Units::PositionUncertaintyUnits::meter:
281 ✗ return "m";
282 ✗ case Units::PositionUncertaintyUnits::COUNT:
283 ✗ break;
284 }
285 ✗ return "";
286 }
287
288 ✗ std::string NAV::to_string(Units::VelocityUncertaintyUnits unit)
289 {
290 ✗ switch (unit)
291 {
292 ✗ case Units::VelocityUncertaintyUnits::m2_s2:
293 ✗ return "m^2/s^2";
294 ✗ case Units::VelocityUncertaintyUnits::m_s:
295 ✗ return "m/s";
296 ✗ case Units::VelocityUncertaintyUnits::COUNT:
297 ✗ break;
298 }
299 ✗ return "";
300 }
301
302 ✗ std::string NAV::to_string(Units::AttitudeUncertaintyUnits unit)
303 {
304 ✗ switch (unit)
305 {
306 ✗ case Units::AttitudeUncertaintyUnits::rad:
307 ✗ return "rad";
308 ✗ case Units::AttitudeUncertaintyUnits::deg:
309 ✗ return "deg";
310 ✗ case Units::AttitudeUncertaintyUnits::rad2:
311 ✗ return "rad^2";
312 ✗ case Units::AttitudeUncertaintyUnits::deg2:
313 ✗ return "deg^2";
314 ✗ case Units::AttitudeUncertaintyUnits::COUNT:
315 ✗ break;
316 }
317 ✗ return "";
318 }
319
320 ✗ std::string NAV::to_string(Units::VelocityUnits unit)
321 {
322 ✗ switch (unit)
323 {
324 ✗ case Units::VelocityUnits::m_s:
325 ✗ return "m/s";
326 ✗ case Units::VelocityUnits::COUNT:
327 ✗ break;
328 }
329 ✗ return "";
330 }
331
332 ✗ std::string NAV::to_string(Units::AttitudeUnits unit)
333 {
334 ✗ switch (unit)
335 {
336 ✗ case Units::AttitudeUnits::rad:
337 ✗ return "rad";
338 ✗ case Units::AttitudeUnits::deg:
339 ✗ return "deg";
340 ✗ case Units::AttitudeUnits::COUNT:
341 ✗ break;
342 }
343 ✗ return "";
344 }
345