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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 | /// @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/Transformations/Units.hpp" | ||
| 20 | #include "util/Eigen.hpp" | ||
| 21 | #include "util/Json.hpp" | ||
| 22 | |||
| 23 | namespace NAV | ||
| 24 | { | ||
| 25 | |||
| 26 | namespace Units | ||
| 27 | { | ||
| 28 | |||
| 29 | /// Possible units to specify an accelerometer with | ||
| 30 | enum class ImuAccelerometerUnits : uint8_t | ||
| 31 | { | ||
| 32 | m_s2, ///< [m/s^2] | ||
| 33 | COUNT, ///< Amount of items in the enum | ||
| 34 | }; | ||
| 35 | |||
| 36 | /// Possible units to specify an gyroscope bias with | ||
| 37 | enum class ImuGyroscopeUnits : uint8_t | ||
| 38 | { | ||
| 39 | rad_s, ///< [rad/s] | ||
| 40 | deg_s, ///< [deg/s] | ||
| 41 | COUNT, ///< Amount of items in the enum | ||
| 42 | }; | ||
| 43 | |||
| 44 | /// Possible units to specify an accelerometer noise | ||
| 45 | enum class ImuAccelerometerNoiseUnits : uint8_t | ||
| 46 | { | ||
| 47 | m_s2_sqrts, ///< [m/s^2/sqrt(s)] (Standard deviation) | ||
| 48 | m_s2_sqrth, ///< [m/s^2/sqrt(h)] (Standard deviation) | ||
| 49 | COUNT, ///< Amount of items in the enum | ||
| 50 | }; | ||
| 51 | |||
| 52 | /// Possible units to specify an gyro noise | ||
| 53 | enum class ImuGyroscopeNoiseUnits : uint8_t | ||
| 54 | { | ||
| 55 | rad_s_sqrts, ///< [rad/s/sqrt(s)] (Standard deviation) | ||
| 56 | rad_s_sqrth, ///< [rad/s/sqrt(h)] (Standard deviation) | ||
| 57 | deg_s_sqrts, ///< [deg/s/sqrt(s)] (Standard deviation) | ||
| 58 | deg_s_sqrth, ///< [deg/s/sqrt(h)] (Standard deviation) | ||
| 59 | COUNT, ///< Amount of items in the enum | ||
| 60 | }; | ||
| 61 | |||
| 62 | /// Possible units to specify an accelerometer IRW | ||
| 63 | enum class ImuAccelerometerIRWUnits : uint8_t | ||
| 64 | { | ||
| 65 | m_s3_sqrts, ///< [m/s^3/sqrt(s)] (Standard deviation) | ||
| 66 | m_s3_sqrth, ///< [m/s^3/sqrt(h)] (Standard deviation) | ||
| 67 | COUNT, ///< Amount of items in the enum | ||
| 68 | }; | ||
| 69 | |||
| 70 | /// Possible units to specify an gyro RW | ||
| 71 | enum class ImuGyroscopeIRWUnits : uint8_t | ||
| 72 | { | ||
| 73 | rad_s2_sqrts, ///< [rad/s^2/sqrt(s)] (Standard deviation) | ||
| 74 | rad_s2_sqrth, ///< [rad/s^2/sqrt(h)] (Standard deviation) | ||
| 75 | deg_s2_sqrts, ///< [deg/s^2/sqrt(s)] (Standard deviation) | ||
| 76 | deg_s2_sqrth, ///< [deg/s^2/sqrt(h)] (Standard deviation) | ||
| 77 | COUNT, ///< Amount of items in the enum | ||
| 78 | }; | ||
| 79 | |||
| 80 | /// @brief Converts the provided data into a json object | ||
| 81 | /// @param[out] j Json object which gets filled with the info | ||
| 82 | /// @param[in] data Data to convert into json | ||
| 83 | void to_json(json& j, const ImuAccelerometerUnits& data); | ||
| 84 | /// @brief Converts the provided json object into the data object | ||
| 85 | /// @param[in] j Json object with the needed values | ||
| 86 | /// @param[out] data Object to fill from the json | ||
| 87 | void from_json(const json& j, ImuAccelerometerUnits& data); | ||
| 88 | |||
| 89 | /// @brief Converts the provided data into a json object | ||
| 90 | /// @param[out] j Json object which gets filled with the info | ||
| 91 | /// @param[in] data Data to convert into json | ||
| 92 | void to_json(json& j, const ImuGyroscopeUnits& data); | ||
| 93 | /// @brief Converts the provided json object into the data object | ||
| 94 | /// @param[in] j Json object with the needed values | ||
| 95 | /// @param[out] data Object to fill from the json | ||
| 96 | void from_json(const json& j, ImuGyroscopeUnits& data); | ||
| 97 | |||
| 98 | /// @brief Converts the provided data into a json object | ||
| 99 | /// @param[out] j Json object which gets filled with the info | ||
| 100 | /// @param[in] data Data to convert into json | ||
| 101 | void to_json(json& j, const ImuAccelerometerNoiseUnits& data); | ||
| 102 | /// @brief Converts the provided json object into the data object | ||
| 103 | /// @param[in] j Json object with the needed values | ||
| 104 | /// @param[out] data Object to fill from the json | ||
| 105 | void from_json(const json& j, ImuAccelerometerNoiseUnits& data); | ||
| 106 | |||
| 107 | /// @brief Converts the provided data into a json object | ||
| 108 | /// @param[out] j Json object which gets filled with the info | ||
| 109 | /// @param[in] data Data to convert into json | ||
| 110 | void to_json(json& j, const ImuGyroscopeNoiseUnits& data); | ||
| 111 | /// @brief Converts the provided json object into the data object | ||
| 112 | /// @param[in] j Json object with the needed values | ||
| 113 | /// @param[out] data Object to fill from the json | ||
| 114 | void from_json(const json& j, ImuGyroscopeNoiseUnits& data); | ||
| 115 | |||
| 116 | /// @brief Converts the provided data into a json object | ||
| 117 | /// @param[out] j Json object which gets filled with the info | ||
| 118 | /// @param[in] data Data to convert into json | ||
| 119 | void to_json(json& j, const ImuAccelerometerIRWUnits& data); | ||
| 120 | /// @brief Converts the provided json object into the data object | ||
| 121 | /// @param[in] j Json object with the needed values | ||
| 122 | /// @param[out] data Object to fill from the json | ||
| 123 | void from_json(const json& j, ImuAccelerometerIRWUnits& data); | ||
| 124 | |||
| 125 | /// @brief Converts the provided data into a json object | ||
| 126 | /// @param[out] j Json object which gets filled with the info | ||
| 127 | /// @param[in] data Data to convert into json | ||
| 128 | void to_json(json& j, const ImuGyroscopeIRWUnits& data); | ||
| 129 | /// @brief Converts the provided json object into the data object | ||
| 130 | /// @param[in] j Json object with the needed values | ||
| 131 | /// @param[out] data Object to fill from the json | ||
| 132 | void from_json(const json& j, ImuGyroscopeIRWUnits& data); | ||
| 133 | |||
| 134 | } // namespace Units | ||
| 135 | |||
| 136 | /// @brief Converts the value depending on the unit provided | ||
| 137 | /// @param[in] value Value to convert | ||
| 138 | /// @param[in] unit Unit the value is in | ||
| 139 | /// @return Value in unit of the first item in the Unit enum | ||
| 140 | template<typename Derived> | ||
| 141 | 60019 | [[nodiscard]] typename Derived::PlainObject convertUnit(const Eigen::MatrixBase<Derived>& value, Units::ImuAccelerometerUnits unit) | |
| 142 | { | ||
| 143 |
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60019 | switch (unit) |
| 144 | { | ||
| 145 | 60020 | case Units::ImuAccelerometerUnits::m_s2: | |
| 146 | 60020 | return value; | |
| 147 | ✗ | case Units::ImuAccelerometerUnits::COUNT: | |
| 148 | ✗ | break; | |
| 149 | } | ||
| 150 | ✗ | return value; | |
| 151 | } | ||
| 152 | |||
| 153 | /// @brief Converts the value depending on the unit provided | ||
| 154 | /// @param[in] value Value to convert | ||
| 155 | /// @param[in] unit Unit the value is in | ||
| 156 | /// @return Value in unit of the first item in the Unit enum | ||
| 157 | template<typename Derived> | ||
| 158 | 60003 | [[nodiscard]] typename Derived::PlainObject convertUnit(const Eigen::MatrixBase<Derived>& value, Units::ImuGyroscopeUnits unit) | |
| 159 | { | ||
| 160 |
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60003 | switch (unit) |
| 161 | { | ||
| 162 | 60006 | case Units::ImuGyroscopeUnits::rad_s: | |
| 163 | 60006 | return value; | |
| 164 | ✗ | case Units::ImuGyroscopeUnits::deg_s: | |
| 165 | ✗ | return deg2rad(value); | |
| 166 | ✗ | case Units::ImuGyroscopeUnits::COUNT: | |
| 167 | ✗ | break; | |
| 168 | } | ||
| 169 | ✗ | return value; | |
| 170 | } | ||
| 171 | |||
| 172 | /// @brief Converts the value depending on the unit provided | ||
| 173 | /// @param[in] value Value to convert | ||
| 174 | /// @param[in] unit Unit the value is in | ||
| 175 | /// @return Value in unit of the first item in the Unit enum | ||
| 176 | template<typename Derived> | ||
| 177 | 95003 | [[nodiscard]] typename Derived::PlainObject convertUnit(const Eigen::MatrixBase<Derived>& value, Units::ImuAccelerometerNoiseUnits unit) | |
| 178 | { | ||
| 179 |
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95003 | switch (unit) |
| 180 | { | ||
| 181 | 95010 | case Units::ImuAccelerometerNoiseUnits::m_s2_sqrts: | |
| 182 | 95010 | return value; | |
| 183 | ✗ | case Units::ImuAccelerometerNoiseUnits::m_s2_sqrth: | |
| 184 | ✗ | return value / 60.0; | |
| 185 | ✗ | case Units::ImuAccelerometerNoiseUnits::COUNT: | |
| 186 | ✗ | break; | |
| 187 | } | ||
| 188 | ✗ | return value; | |
| 189 | } | ||
| 190 | |||
| 191 | /// @brief Converts the value depending on the unit provided | ||
| 192 | /// @param[in] value Value to convert | ||
| 193 | /// @param[in] unit Unit the value is in | ||
| 194 | /// @return Value in unit of the first item in the Unit enum | ||
| 195 | template<typename Derived> | ||
| 196 | 95010 | [[nodiscard]] typename Derived::PlainObject convertUnit(const Eigen::MatrixBase<Derived>& value, Units::ImuGyroscopeNoiseUnits unit) | |
| 197 | { | ||
| 198 |
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95010 | switch (unit) |
| 199 | { | ||
| 200 | 94228 | case Units::ImuGyroscopeNoiseUnits::rad_s_sqrts: | |
| 201 | 94228 | return value; | |
| 202 | ✗ | case Units::ImuGyroscopeNoiseUnits::rad_s_sqrth: | |
| 203 | ✗ | return value / 60.0; | |
| 204 | 786 | case Units::ImuGyroscopeNoiseUnits::deg_s_sqrts: | |
| 205 |
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786 | return deg2rad(value); |
| 206 | ✗ | case Units::ImuGyroscopeNoiseUnits::deg_s_sqrth: | |
| 207 | ✗ | return deg2rad(value) / 60.0; | |
| 208 | ✗ | case Units::ImuGyroscopeNoiseUnits::COUNT: | |
| 209 | ✗ | break; | |
| 210 | } | ||
| 211 | ✗ | return value; | |
| 212 | } | ||
| 213 | |||
| 214 | /// @brief Converts the value depending on the unit provided | ||
| 215 | /// @param[in] value Value to convert | ||
| 216 | /// @param[in] unit Unit the value is in | ||
| 217 | /// @return Value in unit of the first item in the Unit enum | ||
| 218 | template<typename Derived> | ||
| 219 | 34998 | [[nodiscard]] typename Derived::PlainObject convertUnit(const Eigen::MatrixBase<Derived>& value, Units::ImuAccelerometerIRWUnits unit) | |
| 220 | { | ||
| 221 |
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34998 | switch (unit) |
| 222 | { | ||
| 223 | 35000 | case Units::ImuAccelerometerIRWUnits::m_s3_sqrts: | |
| 224 | 35000 | return value; | |
| 225 | ✗ | case Units::ImuAccelerometerIRWUnits::m_s3_sqrth: | |
| 226 | ✗ | return value / 60.0; | |
| 227 | ✗ | case Units::ImuAccelerometerIRWUnits::COUNT: | |
| 228 | ✗ | break; | |
| 229 | } | ||
| 230 | ✗ | return value; | |
| 231 | } | ||
| 232 | |||
| 233 | /// @brief Converts the value depending on the unit provided | ||
| 234 | /// @param[in] value Value to convert | ||
| 235 | /// @param[in] unit Unit the value is in | ||
| 236 | /// @return Value in unit of the first item in the Unit enum | ||
| 237 | template<typename Derived> | ||
| 238 | 35003 | [[nodiscard]] typename Derived::PlainObject convertUnit(const Eigen::MatrixBase<Derived>& value, Units::ImuGyroscopeIRWUnits unit) | |
| 239 | { | ||
| 240 |
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35003 | switch (unit) |
| 241 | { | ||
| 242 | 35002 | case Units::ImuGyroscopeIRWUnits::rad_s2_sqrts: | |
| 243 | 35002 | return value; | |
| 244 | ✗ | case Units::ImuGyroscopeIRWUnits::rad_s2_sqrth: | |
| 245 | ✗ | return value / 60.0; | |
| 246 | ✗ | case Units::ImuGyroscopeIRWUnits::deg_s2_sqrts: | |
| 247 | ✗ | return deg2rad(value); | |
| 248 | ✗ | case Units::ImuGyroscopeIRWUnits::deg_s2_sqrth: | |
| 249 | ✗ | return deg2rad(value) / 60.0; | |
| 250 | ✗ | case Units::ImuGyroscopeIRWUnits::COUNT: | |
| 251 | ✗ | break; | |
| 252 | } | ||
| 253 | 1 | return value; | |
| 254 | } | ||
| 255 | |||
| 256 | /// @brief Converts the unit into a string | ||
| 257 | /// @param[in] unit Unit | ||
| 258 | [[nodiscard]] std::string to_string(Units::ImuAccelerometerUnits unit); | ||
| 259 | /// @brief Converts the unit into a string | ||
| 260 | /// @param[in] unit Unit | ||
| 261 | [[nodiscard]] std::string to_string(Units::ImuGyroscopeUnits unit); | ||
| 262 | /// @brief Converts the unit into a string | ||
| 263 | /// @param[in] unit Unit | ||
| 264 | [[nodiscard]] std::string to_string(Units::ImuAccelerometerNoiseUnits unit); | ||
| 265 | /// @brief Converts the unit into a string | ||
| 266 | /// @param[in] unit Unit | ||
| 267 | [[nodiscard]] std::string to_string(Units::ImuGyroscopeNoiseUnits unit); | ||
| 268 | /// @brief Converts the unit into a string | ||
| 269 | /// @param[in] unit Unit | ||
| 270 | [[nodiscard]] std::string to_string(Units::ImuAccelerometerIRWUnits unit); | ||
| 271 | /// @brief Converts the unit into a string | ||
| 272 | /// @param[in] unit Unit | ||
| 273 | [[nodiscard]] std::string to_string(Units::ImuGyroscopeIRWUnits unit); | ||
| 274 | |||
| 275 | } // namespace NAV | ||
| 276 |