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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 WiFiPositioningSolution.hpp | ||
| 10 | /// @brief WiFi Positioning Algorithm output | ||
| 11 | /// @author R. Lintz (r-lintz@gmx.de) (master thesis) | ||
| 12 | /// @author T. Topp (topp@ins.uni-stuttgart.de) | ||
| 13 | /// @date 2024-03-12 | ||
| 14 | |||
| 15 | #pragma once | ||
| 16 | |||
| 17 | #include "NodeData/State/PosVel.hpp" | ||
| 18 | #include <Eigen/Dense> | ||
| 19 | |||
| 20 | namespace NAV | ||
| 21 | { | ||
| 22 | |||
| 23 | /// WiFi Positioning Algorithm Solution | ||
| 24 | class WiFiPositioningSolution : public PosVel | ||
| 25 | { | ||
| 26 | public: | ||
| 27 | /// @brief Returns the type of the data class | ||
| 28 | /// @return The data type | ||
| 29 | 493 | [[nodiscard]] static std::string type() | |
| 30 | { | ||
| 31 |
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986 | return "WiFiPositioningSolution"; |
| 32 | } | ||
| 33 | |||
| 34 | /// @brief Returns the type of the data class | ||
| 35 | /// @return The data type | ||
| 36 | ✗ | [[nodiscard]] std::string getType() const override { return type(); } | |
| 37 | |||
| 38 | /// @brief Returns the parent types of the data class | ||
| 39 | /// @return The parent data types | ||
| 40 | 112 | [[nodiscard]] static std::vector<std::string> parentTypes() | |
| 41 | { | ||
| 42 | 112 | auto parent = PosVel::parentTypes(); | |
| 43 |
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112 | parent.push_back(PosVel::type()); |
| 44 | 112 | return parent; | |
| 45 | ✗ | } | |
| 46 | |||
| 47 | /// @brief Returns a vector of data descriptors | ||
| 48 | ✗ | [[nodiscard]] static std::vector<std::string> GetStaticDataDescriptors() | |
| 49 | { | ||
| 50 | ✗ | auto desc = PosVel::GetStaticDataDescriptors(); | |
| 51 | ✗ | desc.reserve(GetStaticDescriptorCount()); | |
| 52 | ✗ | desc.emplace_back("Bias [m]"); | |
| 53 | ✗ | desc.emplace_back("Bias StDev [m]"); | |
| 54 | ✗ | return desc; | |
| 55 | ✗ | } | |
| 56 | |||
| 57 | /// @brief Get the amount of descriptors | ||
| 58 | ✗ | [[nodiscard]] static constexpr size_t GetStaticDescriptorCount() { return PosVel::GetStaticDescriptorCount() + 2; } | |
| 59 | |||
| 60 | /// @brief Returns a vector of data descriptors | ||
| 61 | ✗ | [[nodiscard]] std::vector<std::string> staticDataDescriptors() const override { return GetStaticDataDescriptors(); } | |
| 62 | |||
| 63 | /// @brief Get the amount of descriptors | ||
| 64 | ✗ | [[nodiscard]] size_t staticDescriptorCount() const override { return GetStaticDescriptorCount(); } | |
| 65 | |||
| 66 | /// @brief Get the value at the index | ||
| 67 | /// @param idx Index corresponding to data descriptor order | ||
| 68 | /// @return Value if in the observation | ||
| 69 | ✗ | [[nodiscard]] std::optional<double> getValueAt(size_t idx) const override | |
| 70 | { | ||
| 71 | ✗ | INS_ASSERT(idx < GetStaticDescriptorCount()); | |
| 72 | ✗ | if (idx < PosVel::GetStaticDescriptorCount()) { return PosVel::getValueAt(idx); } | |
| 73 | ✗ | switch (idx) | |
| 74 | { | ||
| 75 | ✗ | case PosVel::GetStaticDescriptorCount() + 0: // Bias [m] | |
| 76 | ✗ | return bias; | |
| 77 | break; | ||
| 78 | ✗ | case PosVel::GetStaticDescriptorCount() + 1: // Bias StDev [m] | |
| 79 | ✗ | return biasStdev; | |
| 80 | break; | ||
| 81 | ✗ | default: | |
| 82 | ✗ | return std::nullopt; | |
| 83 | } | ||
| 84 | return std::nullopt; | ||
| 85 | } | ||
| 86 | |||
| 87 | //--------------------------------------------------------- Public Members ------------------------------------------------------------ | ||
| 88 | |||
| 89 | /// Bias [m] | ||
| 90 | double bias = std::nan(""); | ||
| 91 | /// Standard deviation of Bias [m] | ||
| 92 | double biasStdev = std::nan(""); | ||
| 93 | }; | ||
| 94 | |||
| 95 | } // namespace NAV | ||
| 96 |