INSTINCT Code Coverage Report

Directory: src/
File: Navigation/INS/Units.cpp
Date: 2025-11-25 23:34:18
Exec Total Coverage
Lines: 156 246 63.4%
Functions: 20 30 66.7%
Branches: 90 324 27.8%
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 "util/Logger.hpp"
12
13 namespace NAV::Units
14 {
15
16 ✗ void to_json(json& j, const ImuAccelerometerUnits& data)
17 {
18 ✗ j = to_string(data);
19 ✗ }
20 6 void from_json(const json& j, ImuAccelerometerUnits& data)
21 {
22
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 6 if (!j.is_string())
23 {
24 ✗ LOG_WARN("Could not parse '{}' into ImuAccelerometerUnits. Consider resaving the flow", j.dump());
25 6 return;
26 }
27
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 6 std::string str = j.get<std::string>();
28
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 6 for (size_t i = 0; i < static_cast<size_t>(ImuAccelerometerUnits::COUNT); i++)
29 {
30 6 auto enumItem = static_cast<ImuAccelerometerUnits>(i);
31
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 6 if (str == to_string(enumItem))
32 {
33 6 data = enumItem;
34 6 return;
35 }
36 }
37 6 }
38
39 ✗ void to_json(json& j, const ImuGyroscopeUnits& data)
40 {
41 ✗ j = to_string(data);
42 ✗ }
43 6 void from_json(const json& j, ImuGyroscopeUnits& data)
44 {
45
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 6 if (!j.is_string())
46 {
47 ✗ LOG_WARN("Could not parse '{}' into ImuGyroscopeUnits. Consider resaving the flow", j.dump());
48 6 return;
49 }
50
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 6 std::string str = j.get<std::string>();
51
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 6 for (size_t i = 0; i < static_cast<size_t>(ImuGyroscopeUnits::COUNT); i++)
52 {
53 6 auto enumItem = static_cast<ImuGyroscopeUnits>(i);
54
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 6 if (str == to_string(enumItem))
55 {
56 6 data = enumItem;
57 6 return;
58 }
59 }
60 6 }
61
62 ✗ void to_json(json& j, const ImuAccelerometerNoiseUnits& data)
63 {
64 ✗ j = to_string(data);
65 ✗ }
66 12 void from_json(const json& j, ImuAccelerometerNoiseUnits& data)
67 {
68
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 12 if (!j.is_string())
69 {
70 ✗ LOG_WARN("Could not parse '{}' into ImuAccelerometerNoiseUnits. Consider resaving the flow", j.dump());
71 12 return;
72 }
73
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74
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 12 for (size_t i = 0; i < static_cast<size_t>(ImuAccelerometerNoiseUnits::COUNT); i++)
75 {
76 12 auto enumItem = static_cast<ImuAccelerometerNoiseUnits>(i);
77
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 12 if (str == to_string(enumItem))
78 {
79 12 data = enumItem;
80 12 return;
81 }
82 }
83 12 }
84
85 ✗ void to_json(json& j, const ImuGyroscopeNoiseUnits& data)
86 {
87 ✗ j = to_string(data);
88 ✗ }
89 12 void from_json(const json& j, ImuGyroscopeNoiseUnits& data)
90 {
91
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 12 if (!j.is_string())
92 {
93 ✗ LOG_WARN("Could not parse '{}' into ImuGyroscopeNoiseUnits. Consider resaving the flow", j.dump());
94 12 return;
95 }
96
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97
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 12 for (size_t i = 0; i < static_cast<size_t>(ImuGyroscopeNoiseUnits::COUNT); i++)
98 {
99 12 auto enumItem = static_cast<ImuGyroscopeNoiseUnits>(i);
100
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 12 if (str == to_string(enumItem))
101 {
102 12 data = enumItem;
103 12 return;
104 }
105 }
106 12 }
107
108 ✗ void to_json(json& j, const ImuAccelerometerIRWUnits& data)
109 {
110 ✗ j = to_string(data);
111 ✗ }
112 6 void from_json(const json& j, ImuAccelerometerIRWUnits& data)
113 {
114
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 6 if (!j.is_string())
115 {
116 ✗ LOG_WARN("Could not parse '{}' into ImuAccelerometerIRWUnits. Consider resaving the flow", j.dump());
117 6 return;
118 }
119
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120
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 6 for (size_t i = 0; i < static_cast<size_t>(ImuAccelerometerIRWUnits::COUNT); i++)
121 {
122 6 auto enumItem = static_cast<ImuAccelerometerIRWUnits>(i);
123
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124 {
125 6 data = enumItem;
126 6 return;
127 }
128 }
129 6 }
130
131 ✗ void to_json(json& j, const ImuGyroscopeIRWUnits& data)
132 {
133 ✗ j = to_string(data);
134 ✗ }
135 6 void from_json(const json& j, ImuGyroscopeIRWUnits& data)
136 {
137
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 6 if (!j.is_string())
138 {
139 ✗ LOG_WARN("Could not parse '{}' into ImuGyroscopeIRWUnits. Consider resaving the flow", j.dump());
140 6 return;
141 }
142
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143
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 6 for (size_t i = 0; i < static_cast<size_t>(ImuGyroscopeIRWUnits::COUNT); i++)
144 {
145 6 auto enumItem = static_cast<ImuGyroscopeIRWUnits>(i);
146
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147 {
148 6 data = enumItem;
149 6 return;
150 }
151 }
152 6 }
153
154 ✗ void to_json(json& j, const ImuAccelerometerFilterNoiseUnits& data)
155 {
156 ✗ j = to_string(data);
157 ✗ }
158 17 void from_json(const json& j, ImuAccelerometerFilterNoiseUnits& data)
159 {
160
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 17 if (!j.is_string())
161 {
162 ✗ LOG_WARN("Could not parse '{}' into ImuAccelerometerFilterNoiseUnits. Consider resaving the flow", j.dump());
163 17 return;
164 }
165
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166
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 34 for (size_t i = 0; i < static_cast<size_t>(ImuAccelerometerFilterNoiseUnits::COUNT); i++)
167 {
168 34 auto enumItem = static_cast<ImuAccelerometerFilterNoiseUnits>(i);
169
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 34 if (str == to_string(enumItem))
170 {
171 17 data = enumItem;
172 17 return;
173 }
174 }
175 17 }
176
177 ✗ void to_json(json& j, const ImuGyroscopeFilterNoiseUnits& data)
178 {
179 ✗ j = to_string(data);
180 ✗ }
181 17 void from_json(const json& j, ImuGyroscopeFilterNoiseUnits& data)
182 {
183
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 17 if (!j.is_string())
184 {
185 ✗ LOG_WARN("Could not parse '{}' into ImuGyroscopeFilterNoiseUnits. Consider resaving the flow", j.dump());
186 17 return;
187 }
188
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189
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 68 for (size_t i = 0; i < static_cast<size_t>(ImuGyroscopeFilterNoiseUnits::COUNT); i++)
190 {
191 68 auto enumItem = static_cast<ImuGyroscopeFilterNoiseUnits>(i);
192
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 68 if (str == to_string(enumItem))
193 {
194 17 data = enumItem;
195 17 return;
196 }
197 }
198 17 }
199
200 ✗ void to_json(json& j, const ImuAccelerometerFilterBiasUnits& data)
201 {
202 ✗ j = to_string(data);
203 ✗ }
204 17 void from_json(const json& j, ImuAccelerometerFilterBiasUnits& data)
205 {
206
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 17 if (!j.is_string())
207 {
208 ✗ LOG_WARN("Could not parse '{}' into ImuAccelerometerFilterBiasUnits. Consider resaving the flow", j.dump());
209 17 return;
210 }
211
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212
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 34 for (size_t i = 0; i < static_cast<size_t>(ImuAccelerometerFilterBiasUnits::COUNT); i++)
213 {
214 34 auto enumItem = static_cast<ImuAccelerometerFilterBiasUnits>(i);
215
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 34 if (str == to_string(enumItem))
216 {
217 17 data = enumItem;
218 17 return;
219 }
220 }
221 17 }
222
223 ✗ void to_json(json& j, const ImuGyroscopeFilterBiasUnits& data)
224 {
225 ✗ j = to_string(data);
226 ✗ }
227 17 void from_json(const json& j, ImuGyroscopeFilterBiasUnits& data)
228 {
229
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 17 if (!j.is_string())
230 {
231 ✗ LOG_WARN("Could not parse '{}' into ImuGyroscopeFilterBiasUnits. Consider resaving the flow", j.dump());
232 17 return;
233 }
234
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235
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 68 for (size_t i = 0; i < static_cast<size_t>(ImuGyroscopeFilterBiasUnits::COUNT); i++)
236 {
237 68 auto enumItem = static_cast<ImuGyroscopeFilterBiasUnits>(i);
238
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 68 if (str == to_string(enumItem))
239 {
240 17 data = enumItem;
241 17 return;
242 }
243 }
244 17 }
245
246 } // namespace NAV::Units
247
248 6 std::string NAV::to_string(Units::ImuAccelerometerUnits unit)
249 {
250
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251 {
252 6 case Units::ImuAccelerometerUnits::m_s2:
253
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 12 return "m/s^2";
254 ✗ case Units::ImuAccelerometerUnits::g:
255 ✗ return "g";
256 ✗ case Units::ImuAccelerometerUnits::COUNT:
257 ✗ break;
258 }
259 ✗ return "";
260 }
261
262 6 std::string NAV::to_string(Units::ImuGyroscopeUnits unit)
263 {
264
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265 {
266 6 case Units::ImuGyroscopeUnits::rad_s:
267
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 12 return "rad/s";
268 ✗ case Units::ImuGyroscopeUnits::deg_s:
269 ✗ return "deg/s";
270 ✗ case Units::ImuGyroscopeUnits::COUNT:
271 ✗ break;
272 }
273 ✗ return "";
274 }
275
276 12 std::string NAV::to_string(Units::ImuAccelerometerNoiseUnits unit)
277 {
278
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279 {
280 12 case Units::ImuAccelerometerNoiseUnits::m_s2_sqrts:
281
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 24 return "m/s^2/√(s)";
282 ✗ case Units::ImuAccelerometerNoiseUnits::m_s2_sqrth:
283 ✗ return "m/s^2/√(h)";
284 ✗ case Units::ImuAccelerometerNoiseUnits::COUNT:
285 ✗ break;
286 }
287 ✗ return "";
288 }
289
290 12 std::string NAV::to_string(Units::ImuGyroscopeNoiseUnits unit)
291 {
292
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 12 switch (unit)
293 {
294 12 case Units::ImuGyroscopeNoiseUnits::rad_s_sqrts:
295
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 24 return "rad/s/√(s)";
296 ✗ case Units::ImuGyroscopeNoiseUnits::rad_s_sqrth:
297 ✗ return "rad/s/√(h)";
298 ✗ case Units::ImuGyroscopeNoiseUnits::deg_s_sqrts:
299 ✗ return "deg/s/√(s)";
300 ✗ case Units::ImuGyroscopeNoiseUnits::deg_s_sqrth:
301 ✗ return "deg/s/√(h)";
302 ✗ case Units::ImuGyroscopeNoiseUnits::COUNT:
303 ✗ break;
304 }
305 ✗ return "";
306 }
307
308 6 std::string NAV::to_string(Units::ImuAccelerometerIRWUnits unit)
309 {
310
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311 {
312 6 case Units::ImuAccelerometerIRWUnits::m_s3_sqrts:
313
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 12 return "m/s^3/√(s)";
314 ✗ case Units::ImuAccelerometerIRWUnits::m_s3_sqrth:
315 ✗ return "m/s^3/√(h)";
316 ✗ case Units::ImuAccelerometerIRWUnits::COUNT:
317 ✗ break;
318 }
319 ✗ return "";
320 }
321
322 6 std::string NAV::to_string(Units::ImuGyroscopeIRWUnits unit)
323 {
324
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325 {
326 6 case Units::ImuGyroscopeIRWUnits::rad_s2_sqrts:
327
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 12 return "rad/s^2/√(s)";
328 ✗ case Units::ImuGyroscopeIRWUnits::rad_s2_sqrth:
329 ✗ return "rad/s^2/√(h)";
330 ✗ case Units::ImuGyroscopeIRWUnits::deg_s2_sqrts:
331 ✗ return "deg/s^2/√(s)";
332 ✗ case Units::ImuGyroscopeIRWUnits::deg_s2_sqrth:
333 ✗ return "deg/s^2/√(h)";
334 ✗ case Units::ImuGyroscopeIRWUnits::COUNT:
335 ✗ break;
336 }
337 ✗ return "";
338 }
339
340 34 std::string NAV::to_string(Units::ImuAccelerometerFilterNoiseUnits unit)
341 {
342
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343 {
344 17 case Units::ImuAccelerometerFilterNoiseUnits::m_s2_sqrtHz:
345
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 34 return "m/s^2/√(Hz)";
346 17 case Units::ImuAccelerometerFilterNoiseUnits::mg_sqrtHz:
347
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 34 return "mg/√(Hz)";
348 ✗ case Units::ImuAccelerometerFilterNoiseUnits::COUNT:
349 ✗ break;
350 }
351 ✗ return "";
352 }
353
354 68 std::string NAV::to_string(Units::ImuGyroscopeFilterNoiseUnits unit)
355 {
356
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 68 switch (unit)
357 {
358 17 case Units::ImuGyroscopeFilterNoiseUnits::rad_s_sqrtHz:
359
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 34 return "rad/s/√(Hz)";
360 17 case Units::ImuGyroscopeFilterNoiseUnits::rad_hr_sqrtHz:
361
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 34 return "rad/hr/√(Hz)";
362 17 case Units::ImuGyroscopeFilterNoiseUnits::deg_s_sqrtHz:
363
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 34 return "deg/s/√(Hz)";
364 17 case Units::ImuGyroscopeFilterNoiseUnits::deg_hr_sqrtHz:
365
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 34 return "deg/hr/√(Hz)";
366 ✗ case Units::ImuGyroscopeFilterNoiseUnits::COUNT:
367 ✗ break;
368 }
369 ✗ return "";
370 }
371
372 34 std::string NAV::to_string(Units::ImuAccelerometerFilterBiasUnits unit)
373 {
374
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375 {
376 17 case Units::ImuAccelerometerFilterBiasUnits::m_s2:
377
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 34 return "m/s^2";
378 17 case Units::ImuAccelerometerFilterBiasUnits::microg:
379
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 34 return "µg";
380 ✗ case Units::ImuAccelerometerFilterBiasUnits::COUNT:
381 ✗ break;
382 }
383 ✗ return "";
384 }
385
386 68 std::string NAV::to_string(Units::ImuGyroscopeFilterBiasUnits unit)
387 {
388
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 68 switch (unit)
389 {
390 17 case Units::ImuGyroscopeFilterBiasUnits::rad_s:
391
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 34 return "1/s";
392 17 case Units::ImuGyroscopeFilterBiasUnits::rad_h:
393
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 34 return "1/h";
394 17 case Units::ImuGyroscopeFilterBiasUnits::deg_s:
395
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 34 return "°/s";
396 17 case Units::ImuGyroscopeFilterBiasUnits::deg_h:
397
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 34 return "°/h";
398 ✗ case Units::ImuGyroscopeFilterBiasUnits::COUNT:
399 ✗ break;
400 }
401 ✗ return "";
402 }
403