| 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 | /// @file Units.hpp | ||
| 10 | /// @brief Units used by INS | ||
| 11 | /// @author T. Topp (topp@ins.uni-stuttgart.de) | ||
| 12 | /// @date 2024-10-21 | ||
| 13 | |||
| 14 | #pragma once | ||
| 15 | |||
| 16 | #include <cstddef> | ||
| 17 | #include <string> | ||
| 18 | |||
| 19 | #include "Navigation/Constants.hpp" | ||
| 20 | #include "Navigation/Transformations/Units.hpp" | ||
| 21 | #include "util/Eigen.hpp" | ||
| 22 | #include "util/Json.hpp" | ||
| 23 | |||
| 24 | namespace NAV | ||
| 25 | { | ||
| 26 | |||
| 27 | namespace Units | ||
| 28 | { | ||
| 29 | |||
| 30 | /// Possible units to specify an accelerometer with | ||
| 31 | enum class ImuAccelerometerUnits : uint8_t | ||
| 32 | { | ||
| 33 | m_s2, ///< [m/s^2] | ||
| 34 | g, ///< [g] | ||
| 35 | COUNT, ///< Amount of items in the enum | ||
| 36 | }; | ||
| 37 | |||
| 38 | /// Possible units to specify an gyroscope bias with | ||
| 39 | enum class ImuGyroscopeUnits : uint8_t | ||
| 40 | { | ||
| 41 | rad_s, ///< [rad/s] | ||
| 42 | deg_s, ///< [deg/s] | ||
| 43 | COUNT, ///< Amount of items in the enum | ||
| 44 | }; | ||
| 45 | |||
| 46 | /// Possible units to specify an accelerometer noise | ||
| 47 | enum class ImuAccelerometerNoiseUnits : uint8_t | ||
| 48 | { | ||
| 49 | m_s2_sqrts, ///< [m/s^2/sqrt(s)] (Standard deviation) | ||
| 50 | m_s2_sqrth, ///< [m/s^2/sqrt(h)] (Standard deviation) | ||
| 51 | COUNT, ///< Amount of items in the enum | ||
| 52 | }; | ||
| 53 | |||
| 54 | /// Possible units to specify an gyro noise | ||
| 55 | enum class ImuGyroscopeNoiseUnits : uint8_t | ||
| 56 | { | ||
| 57 | rad_s_sqrts, ///< [rad/s/sqrt(s)] (Standard deviation) | ||
| 58 | rad_s_sqrth, ///< [rad/s/sqrt(h)] (Standard deviation) | ||
| 59 | deg_s_sqrts, ///< [deg/s/sqrt(s)] (Standard deviation) | ||
| 60 | deg_s_sqrth, ///< [deg/s/sqrt(h)] (Standard deviation) | ||
| 61 | COUNT, ///< Amount of items in the enum | ||
| 62 | }; | ||
| 63 | |||
| 64 | /// Possible units to specify an accelerometer IRW | ||
| 65 | enum class ImuAccelerometerIRWUnits : uint8_t | ||
| 66 | { | ||
| 67 | m_s3_sqrts, ///< [m/s^3/sqrt(s)] (Standard deviation) | ||
| 68 | m_s3_sqrth, ///< [m/s^3/sqrt(h)] (Standard deviation) | ||
| 69 | COUNT, ///< Amount of items in the enum | ||
| 70 | }; | ||
| 71 | |||
| 72 | /// Possible units to specify an gyro RW | ||
| 73 | enum class ImuGyroscopeIRWUnits : uint8_t | ||
| 74 | { | ||
| 75 | rad_s2_sqrts, ///< [rad/s^2/sqrt(s)] (Standard deviation) | ||
| 76 | rad_s2_sqrth, ///< [rad/s^2/sqrt(h)] (Standard deviation) | ||
| 77 | deg_s2_sqrts, ///< [deg/s^2/sqrt(s)] (Standard deviation) | ||
| 78 | deg_s2_sqrth, ///< [deg/s^2/sqrt(h)] (Standard deviation) | ||
| 79 | COUNT, ///< Amount of items in the enum | ||
| 80 | }; | ||
| 81 | |||
| 82 | /// Possible units to specify an accelerometer noise in a filter | ||
| 83 | enum class ImuAccelerometerFilterNoiseUnits : uint8_t | ||
| 84 | { | ||
| 85 | m_s2_sqrtHz, ///< [m / s^2 / √(Hz)] | ||
| 86 | mg_sqrtHz, ///< [mg / √(Hz)] | ||
| 87 | COUNT, ///< Amount of items in the enum | ||
| 88 | }; | ||
| 89 | |||
| 90 | /// Possible units to specify an gyro noise in a filter | ||
| 91 | enum class ImuGyroscopeFilterNoiseUnits : uint8_t | ||
| 92 | { | ||
| 93 | rad_s_sqrtHz, ///< [rad / s /√(Hz)] | ||
| 94 | rad_hr_sqrtHz, ///< [rad / hr /√(Hz)] | ||
| 95 | deg_s_sqrtHz, ///< [deg / s /√(Hz)] | ||
| 96 | deg_hr_sqrtHz, ///< [deg / hr /√(Hz)] | ||
| 97 | COUNT, ///< Amount of items in the enum | ||
| 98 | }; | ||
| 99 | |||
| 100 | /// Possible units for the accelerometer dynamic bias | ||
| 101 | enum class ImuAccelerometerFilterBiasUnits : uint8_t | ||
| 102 | { | ||
| 103 | m_s2, ///< [m / s^2] | ||
| 104 | microg, ///< [µg] | ||
| 105 | COUNT, ///< Amount of items in the enum | ||
| 106 | }; | ||
| 107 | |||
| 108 | /// Possible units for the gyroscope dynamic bias | ||
| 109 | enum class ImuGyroscopeFilterBiasUnits : uint8_t | ||
| 110 | { | ||
| 111 | rad_s, ///< [1/s] | ||
| 112 | rad_h, ///< [1/h] | ||
| 113 | deg_s, ///< [°/s] | ||
| 114 | deg_h, ///< [°/h] | ||
| 115 | COUNT, ///< Amount of items in the enum | ||
| 116 | }; | ||
| 117 | |||
| 118 | /// @brief Converts the provided data into a json object | ||
| 119 | /// @param[out] j Json object which gets filled with the info | ||
| 120 | /// @param[in] data Data to convert into json | ||
| 121 | void to_json(json& j, const ImuAccelerometerUnits& data); | ||
| 122 | /// @brief Converts the provided json object into the data object | ||
| 123 | /// @param[in] j Json object with the needed values | ||
| 124 | /// @param[out] data Object to fill from the json | ||
| 125 | void from_json(const json& j, ImuAccelerometerUnits& data); | ||
| 126 | |||
| 127 | /// @brief Converts the provided data into a json object | ||
| 128 | /// @param[out] j Json object which gets filled with the info | ||
| 129 | /// @param[in] data Data to convert into json | ||
| 130 | void to_json(json& j, const ImuGyroscopeUnits& data); | ||
| 131 | /// @brief Converts the provided json object into the data object | ||
| 132 | /// @param[in] j Json object with the needed values | ||
| 133 | /// @param[out] data Object to fill from the json | ||
| 134 | void from_json(const json& j, ImuGyroscopeUnits& data); | ||
| 135 | |||
| 136 | /// @brief Converts the provided data into a json object | ||
| 137 | /// @param[out] j Json object which gets filled with the info | ||
| 138 | /// @param[in] data Data to convert into json | ||
| 139 | void to_json(json& j, const ImuAccelerometerNoiseUnits& data); | ||
| 140 | /// @brief Converts the provided json object into the data object | ||
| 141 | /// @param[in] j Json object with the needed values | ||
| 142 | /// @param[out] data Object to fill from the json | ||
| 143 | void from_json(const json& j, ImuAccelerometerNoiseUnits& data); | ||
| 144 | |||
| 145 | /// @brief Converts the provided data into a json object | ||
| 146 | /// @param[out] j Json object which gets filled with the info | ||
| 147 | /// @param[in] data Data to convert into json | ||
| 148 | void to_json(json& j, const ImuGyroscopeNoiseUnits& data); | ||
| 149 | /// @brief Converts the provided json object into the data object | ||
| 150 | /// @param[in] j Json object with the needed values | ||
| 151 | /// @param[out] data Object to fill from the json | ||
| 152 | void from_json(const json& j, ImuGyroscopeNoiseUnits& data); | ||
| 153 | |||
| 154 | /// @brief Converts the provided data into a json object | ||
| 155 | /// @param[out] j Json object which gets filled with the info | ||
| 156 | /// @param[in] data Data to convert into json | ||
| 157 | void to_json(json& j, const ImuAccelerometerIRWUnits& data); | ||
| 158 | /// @brief Converts the provided json object into the data object | ||
| 159 | /// @param[in] j Json object with the needed values | ||
| 160 | /// @param[out] data Object to fill from the json | ||
| 161 | void from_json(const json& j, ImuAccelerometerIRWUnits& data); | ||
| 162 | |||
| 163 | /// @brief Converts the provided data into a json object | ||
| 164 | /// @param[out] j Json object which gets filled with the info | ||
| 165 | /// @param[in] data Data to convert into json | ||
| 166 | void to_json(json& j, const ImuGyroscopeIRWUnits& data); | ||
| 167 | /// @brief Converts the provided json object into the data object | ||
| 168 | /// @param[in] j Json object with the needed values | ||
| 169 | /// @param[out] data Object to fill from the json | ||
| 170 | void from_json(const json& j, ImuGyroscopeIRWUnits& data); | ||
| 171 | |||
| 172 | /// @brief Converts the provided data into a json object | ||
| 173 | /// @param[out] j Json object which gets filled with the info | ||
| 174 | /// @param[in] data Data to convert into json | ||
| 175 | void to_json(json& j, const ImuAccelerometerFilterNoiseUnits& data); | ||
| 176 | /// @brief Converts the provided json object into the data object | ||
| 177 | /// @param[in] j Json object with the needed values | ||
| 178 | /// @param[out] data Object to fill from the json | ||
| 179 | void from_json(const json& j, ImuAccelerometerFilterNoiseUnits& data); | ||
| 180 | |||
| 181 | /// @brief Converts the provided data into a json object | ||
| 182 | /// @param[out] j Json object which gets filled with the info | ||
| 183 | /// @param[in] data Data to convert into json | ||
| 184 | void to_json(json& j, const ImuGyroscopeFilterNoiseUnits& data); | ||
| 185 | /// @brief Converts the provided json object into the data object | ||
| 186 | /// @param[in] j Json object with the needed values | ||
| 187 | /// @param[out] data Object to fill from the json | ||
| 188 | void from_json(const json& j, ImuGyroscopeFilterNoiseUnits& data); | ||
| 189 | |||
| 190 | /// @brief Converts the provided data into a json object | ||
| 191 | /// @param[out] j Json object which gets filled with the info | ||
| 192 | /// @param[in] data Data to convert into json | ||
| 193 | void to_json(json& j, const ImuAccelerometerFilterBiasUnits& data); | ||
| 194 | /// @brief Converts the provided json object into the data object | ||
| 195 | /// @param[in] j Json object with the needed values | ||
| 196 | /// @param[out] data Object to fill from the json | ||
| 197 | void from_json(const json& j, ImuAccelerometerFilterBiasUnits& data); | ||
| 198 | |||
| 199 | /// @brief Converts the provided data into a json object | ||
| 200 | /// @param[out] j Json object which gets filled with the info | ||
| 201 | /// @param[in] data Data to convert into json | ||
| 202 | void to_json(json& j, const ImuGyroscopeFilterBiasUnits& data); | ||
| 203 | /// @brief Converts the provided json object into the data object | ||
| 204 | /// @param[in] j Json object with the needed values | ||
| 205 | /// @param[out] data Object to fill from the json | ||
| 206 | void from_json(const json& j, ImuGyroscopeFilterBiasUnits& data); | ||
| 207 | |||
| 208 | } // namespace Units | ||
| 209 | |||
| 210 | /// @brief Converts the value depending on the unit provided | ||
| 211 | /// @param[in] value Value to convert | ||
| 212 | /// @param[in] unit Unit the value is in | ||
| 213 | /// @return Value in unit of the first item in the Unit enum | ||
| 214 | template<typename Derived> | ||
| 215 | 58447 | [[nodiscard]] typename Derived::PlainObject convertUnit(const Eigen::MatrixBase<Derived>& value, Units::ImuAccelerometerUnits unit) | |
| 216 | { | ||
| 217 |
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58447 | switch (unit) |
| 218 | { | ||
| 219 | 58446 | case Units::ImuAccelerometerUnits::m_s2: | |
| 220 | 58446 | return value; | |
| 221 | ✗ | case Units::ImuAccelerometerUnits::g: | |
| 222 | ✗ | return value * InsConst::G_NORM; | |
| 223 | ✗ | case Units::ImuAccelerometerUnits::COUNT: | |
| 224 | ✗ | break; | |
| 225 | } | ||
| 226 | 1 | return value; | |
| 227 | } | ||
| 228 | |||
| 229 | /// @brief Converts the value depending on the unit provided | ||
| 230 | /// @param[in] value Value to convert | ||
| 231 | /// @param[in] unit Unit the value is in | ||
| 232 | /// @return Value in unit of the first item in the Unit enum | ||
| 233 | template<typename Derived> | ||
| 234 | 58437 | [[nodiscard]] typename Derived::PlainObject convertUnit(const Eigen::MatrixBase<Derived>& value, Units::ImuGyroscopeUnits unit) | |
| 235 | { | ||
| 236 |
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58437 | switch (unit) |
| 237 | { | ||
| 238 | 58437 | case Units::ImuGyroscopeUnits::rad_s: | |
| 239 | 58437 | return value; | |
| 240 | ✗ | case Units::ImuGyroscopeUnits::deg_s: | |
| 241 | ✗ | return deg2rad(value); | |
| 242 | ✗ | case Units::ImuGyroscopeUnits::COUNT: | |
| 243 | ✗ | break; | |
| 244 | } | ||
| 245 | ✗ | return value; | |
| 246 | } | ||
| 247 | |||
| 248 | /// @brief Converts the value depending on the unit provided | ||
| 249 | /// @param[in] value Value to convert | ||
| 250 | /// @param[in] unit Unit the value is in | ||
| 251 | /// @return Value in unit of the first item in the Unit enum | ||
| 252 | template<typename Derived> | ||
| 253 | 92654 | [[nodiscard]] typename Derived::PlainObject convertUnit(const Eigen::MatrixBase<Derived>& value, Units::ImuAccelerometerNoiseUnits unit) | |
| 254 | { | ||
| 255 |
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92654 | switch (unit) |
| 256 | { | ||
| 257 | 92658 | case Units::ImuAccelerometerNoiseUnits::m_s2_sqrts: | |
| 258 | 92658 | return value; | |
| 259 | ✗ | case Units::ImuAccelerometerNoiseUnits::m_s2_sqrth: | |
| 260 | ✗ | return value / 60.0; | |
| 261 | ✗ | case Units::ImuAccelerometerNoiseUnits::COUNT: | |
| 262 | ✗ | break; | |
| 263 | } | ||
| 264 | ✗ | return value; | |
| 265 | } | ||
| 266 | |||
| 267 | /// @brief Converts the value depending on the unit provided | ||
| 268 | /// @param[in] value Value to convert | ||
| 269 | /// @param[in] unit Unit the value is in | ||
| 270 | /// @return Value in unit of the first item in the Unit enum | ||
| 271 | template<typename Derived> | ||
| 272 | 92653 | [[nodiscard]] typename Derived::PlainObject convertUnit(const Eigen::MatrixBase<Derived>& value, Units::ImuGyroscopeNoiseUnits unit) | |
| 273 | { | ||
| 274 |
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92653 | switch (unit) |
| 275 | { | ||
| 276 | 92665 | case Units::ImuGyroscopeNoiseUnits::rad_s_sqrts: | |
| 277 | 92665 | return value; | |
| 278 | ✗ | case Units::ImuGyroscopeNoiseUnits::rad_s_sqrth: | |
| 279 | ✗ | return value / 60.0; | |
| 280 | ✗ | case Units::ImuGyroscopeNoiseUnits::deg_s_sqrts: | |
| 281 | ✗ | return deg2rad(value); | |
| 282 | ✗ | case Units::ImuGyroscopeNoiseUnits::deg_s_sqrth: | |
| 283 | ✗ | return deg2rad(value) / 60.0; | |
| 284 | ✗ | case Units::ImuGyroscopeNoiseUnits::COUNT: | |
| 285 | ✗ | break; | |
| 286 | } | ||
| 287 | ✗ | return value; | |
| 288 | } | ||
| 289 | |||
| 290 | /// @brief Converts the value depending on the unit provided | ||
| 291 | /// @param[in] value Value to convert | ||
| 292 | /// @param[in] unit Unit the value is in | ||
| 293 | /// @return Value in unit of the first item in the Unit enum | ||
| 294 | template<typename Derived> | ||
| 295 | 34217 | [[nodiscard]] typename Derived::PlainObject convertUnit(const Eigen::MatrixBase<Derived>& value, Units::ImuAccelerometerIRWUnits unit) | |
| 296 | { | ||
| 297 |
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34217 | switch (unit) |
| 298 | { | ||
| 299 | 34213 | case Units::ImuAccelerometerIRWUnits::m_s3_sqrts: | |
| 300 | 34213 | return value; | |
| 301 | ✗ | case Units::ImuAccelerometerIRWUnits::m_s3_sqrth: | |
| 302 | ✗ | return value / 60.0; | |
| 303 | ✗ | case Units::ImuAccelerometerIRWUnits::COUNT: | |
| 304 | ✗ | break; | |
| 305 | } | ||
| 306 | 4 | return value; | |
| 307 | } | ||
| 308 | |||
| 309 | /// @brief Converts the value depending on the unit provided | ||
| 310 | /// @param[in] value Value to convert | ||
| 311 | /// @param[in] unit Unit the value is in | ||
| 312 | /// @return Value in unit of the first item in the Unit enum | ||
| 313 | template<typename Derived> | ||
| 314 | 34220 | [[nodiscard]] typename Derived::PlainObject convertUnit(const Eigen::MatrixBase<Derived>& value, Units::ImuGyroscopeIRWUnits unit) | |
| 315 | { | ||
| 316 |
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34220 | switch (unit) |
| 317 | { | ||
| 318 | 34220 | case Units::ImuGyroscopeIRWUnits::rad_s2_sqrts: | |
| 319 | 34220 | return value; | |
| 320 | ✗ | case Units::ImuGyroscopeIRWUnits::rad_s2_sqrth: | |
| 321 | ✗ | return value / 60.0; | |
| 322 | ✗ | case Units::ImuGyroscopeIRWUnits::deg_s2_sqrts: | |
| 323 | ✗ | return deg2rad(value); | |
| 324 | ✗ | case Units::ImuGyroscopeIRWUnits::deg_s2_sqrth: | |
| 325 | ✗ | return deg2rad(value) / 60.0; | |
| 326 | ✗ | case Units::ImuGyroscopeIRWUnits::COUNT: | |
| 327 | ✗ | break; | |
| 328 | } | ||
| 329 | ✗ | return value; | |
| 330 | } | ||
| 331 | |||
| 332 | /// @brief Converts the value depending on the unit provided | ||
| 333 | /// @param[in] value Value to convert | ||
| 334 | /// @param[in] unit Unit the value is in | ||
| 335 | /// @return Value in unit of the first item in the Unit enum | ||
| 336 | template<typename Derived> | ||
| 337 | 49997 | [[nodiscard]] typename Derived::PlainObject convertUnit(const Eigen::MatrixBase<Derived>& value, Units::ImuAccelerometerFilterNoiseUnits unit) | |
| 338 | { | ||
| 339 |
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49997 | switch (unit) |
| 340 | { | ||
| 341 | ✗ | case Units::ImuAccelerometerFilterNoiseUnits::m_s2_sqrtHz: | |
| 342 | ✗ | return value; | |
| 343 | 49997 | case Units::ImuAccelerometerFilterNoiseUnits::mg_sqrtHz: | |
| 344 |
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99994 | return value * 1e-3 * InsConst::G_NORM; |
| 345 | ✗ | case Units::ImuAccelerometerFilterNoiseUnits::COUNT: | |
| 346 | ✗ | break; | |
| 347 | } | ||
| 348 | ✗ | return value; | |
| 349 | } | ||
| 350 | |||
| 351 | /// @brief Converts the value depending on the unit provided | ||
| 352 | /// @param[in] value Value to convert | ||
| 353 | /// @param[in] unit Unit the value is in | ||
| 354 | /// @return Value in unit of the first item in the Unit enum | ||
| 355 | template<typename Derived> | ||
| 356 | 49997 | [[nodiscard]] typename Derived::PlainObject convertUnit(const Eigen::MatrixBase<Derived>& value, Units::ImuGyroscopeFilterNoiseUnits unit) | |
| 357 | { | ||
| 358 |
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49997 | switch (unit) |
| 359 | { | ||
| 360 | ✗ | case Units::ImuGyroscopeFilterNoiseUnits::rad_s_sqrtHz: | |
| 361 | ✗ | return value; | |
| 362 | ✗ | case Units::ImuGyroscopeFilterNoiseUnits::rad_hr_sqrtHz: | |
| 363 | ✗ | return value / 3600.0; | |
| 364 | ✗ | case Units::ImuGyroscopeFilterNoiseUnits::deg_s_sqrtHz: | |
| 365 | ✗ | return deg2rad(value); | |
| 366 | 49997 | case Units::ImuGyroscopeFilterNoiseUnits::deg_hr_sqrtHz: | |
| 367 |
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49997 | return deg2rad(value) / 3600.0; |
| 368 | ✗ | case Units::ImuGyroscopeFilterNoiseUnits::COUNT: | |
| 369 | ✗ | break; | |
| 370 | } | ||
| 371 | ✗ | return value; | |
| 372 | } | ||
| 373 | |||
| 374 | /// @brief Converts the value depending on the unit provided | ||
| 375 | /// @param[in] value Value to convert | ||
| 376 | /// @param[in] unit Unit the value is in | ||
| 377 | /// @return Value in unit of the first item in the Unit enum | ||
| 378 | template<typename Derived> | ||
| 379 | 49997 | [[nodiscard]] typename Derived::PlainObject convertUnit(const Eigen::MatrixBase<Derived>& value, Units::ImuAccelerometerFilterBiasUnits unit) | |
| 380 | { | ||
| 381 |
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49997 | switch (unit) |
| 382 | { | ||
| 383 | ✗ | case Units::ImuAccelerometerFilterBiasUnits::m_s2: | |
| 384 | ✗ | return value; | |
| 385 | 49997 | case Units::ImuAccelerometerFilterBiasUnits::microg: | |
| 386 |
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99994 | return value * 1e-6 * InsConst::G_NORM; |
| 387 | ✗ | case Units::ImuAccelerometerFilterBiasUnits::COUNT: | |
| 388 | ✗ | break; | |
| 389 | } | ||
| 390 | ✗ | return value; | |
| 391 | } | ||
| 392 | |||
| 393 | /// @brief Converts the value depending on the unit provided | ||
| 394 | /// @param[in] value Value to convert | ||
| 395 | /// @param[in] unit Unit the value is in | ||
| 396 | /// @return Value in unit of the first item in the Unit enum | ||
| 397 | template<typename Derived> | ||
| 398 | 49997 | [[nodiscard]] typename Derived::PlainObject convertUnit(const Eigen::MatrixBase<Derived>& value, Units::ImuGyroscopeFilterBiasUnits unit) | |
| 399 | { | ||
| 400 |
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49997 | switch (unit) |
| 401 | { | ||
| 402 | ✗ | case Units::ImuGyroscopeFilterBiasUnits::rad_s: | |
| 403 | ✗ | return value; | |
| 404 | ✗ | case Units::ImuGyroscopeFilterBiasUnits::rad_h: | |
| 405 | ✗ | return value / 3600.0; | |
| 406 | ✗ | case Units::ImuGyroscopeFilterBiasUnits::deg_s: | |
| 407 | ✗ | return deg2rad(value); | |
| 408 | 49997 | case Units::ImuGyroscopeFilterBiasUnits::deg_h: | |
| 409 |
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49997 | return deg2rad(value) / 3600.0; |
| 410 | ✗ | case Units::ImuGyroscopeFilterBiasUnits::COUNT: | |
| 411 | ✗ | break; | |
| 412 | } | ||
| 413 | ✗ | return value; | |
| 414 | } | ||
| 415 | |||
| 416 | /// @brief Converts the unit into a string | ||
| 417 | /// @param[in] unit Unit | ||
| 418 | [[nodiscard]] std::string to_string(Units::ImuAccelerometerUnits unit); | ||
| 419 | /// @brief Converts the unit into a string | ||
| 420 | /// @param[in] unit Unit | ||
| 421 | [[nodiscard]] std::string to_string(Units::ImuGyroscopeUnits unit); | ||
| 422 | /// @brief Converts the unit into a string | ||
| 423 | /// @param[in] unit Unit | ||
| 424 | [[nodiscard]] std::string to_string(Units::ImuAccelerometerNoiseUnits unit); | ||
| 425 | /// @brief Converts the unit into a string | ||
| 426 | /// @param[in] unit Unit | ||
| 427 | [[nodiscard]] std::string to_string(Units::ImuGyroscopeNoiseUnits unit); | ||
| 428 | /// @brief Converts the unit into a string | ||
| 429 | /// @param[in] unit Unit | ||
| 430 | [[nodiscard]] std::string to_string(Units::ImuAccelerometerIRWUnits unit); | ||
| 431 | /// @brief Converts the unit into a string | ||
| 432 | /// @param[in] unit Unit | ||
| 433 | [[nodiscard]] std::string to_string(Units::ImuGyroscopeIRWUnits unit); | ||
| 434 | /// @brief Converts the unit into a string | ||
| 435 | /// @param[in] unit Unit | ||
| 436 | [[nodiscard]] std::string to_string(Units::ImuAccelerometerFilterNoiseUnits unit); | ||
| 437 | /// @brief Converts the unit into a string | ||
| 438 | /// @param[in] unit Unit | ||
| 439 | [[nodiscard]] std::string to_string(Units::ImuGyroscopeFilterNoiseUnits unit); | ||
| 440 | /// @brief Converts the unit into a string | ||
| 441 | /// @param[in] unit Unit | ||
| 442 | [[nodiscard]] std::string to_string(Units::ImuAccelerometerFilterBiasUnits unit); | ||
| 443 | /// @brief Converts the unit into a string | ||
| 444 | /// @param[in] unit Unit | ||
| 445 | [[nodiscard]] std::string to_string(Units::ImuGyroscopeFilterBiasUnits unit); | ||
| 446 | |||
| 447 | } // namespace NAV | ||
| 448 |