| 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 "readAscii2Matrix.hpp" | ||
| 10 | |||
| 11 | #include <iostream> | ||
| 12 | #include <fstream> | ||
| 13 | #include <string> | ||
| 14 | #include <Eigen/Dense> | ||
| 15 | #include <filesystem> | ||
| 16 | |||
| 17 | #include "util/Logger.hpp" | ||
| 18 | #include "util/StringUtil.hpp" | ||
| 19 | |||
| 20 | ✗ | Eigen::MatrixXd NAV::internal::readAscii2Matrix() | |
| 21 | { | ||
| 22 | ✗ | std::string line; | |
| 23 | ✗ | std::ifstream myfileN("resources/data/egm96_to360.ascii"); | |
| 24 | ✗ | std::ifstream myfile("resources/data/egm96_to360.ascii"); | |
| 25 | |||
| 26 | ✗ | char delimiter = ' '; | |
| 27 | ✗ | size_t pos = 0; | |
| 28 | ✗ | std::string token; | |
| 29 | ✗ | uint32_t nmbrOfLines = static_cast<uint32_t>(std::count(std::istreambuf_iterator<char>(myfileN), std::istreambuf_iterator<char>(), '\n')); | |
| 30 | |||
| 31 | LOG_DATA("Number of lines in 'egm96_to360.ascii':_{}", nmbrOfLines); | ||
| 32 | |||
| 33 | ✗ | int i = 0; | |
| 34 | ✗ | int j = 0; | |
| 35 | ✗ | Eigen::MatrixXd coeffs(nmbrOfLines, 6); | |
| 36 | |||
| 37 | ✗ | if (myfile.good()) | |
| 38 | { | ||
| 39 | ✗ | while (getline(myfile, line)) | |
| 40 | { | ||
| 41 | ✗ | while ((pos = line.find(delimiter)) != std::string::npos) | |
| 42 | { | ||
| 43 | ✗ | if (line.substr(0, 1) == " ") | |
| 44 | { | ||
| 45 | ✗ | NAV::str::ltrim(line); | |
| 46 | } | ||
| 47 | else | ||
| 48 | { | ||
| 49 | ✗ | token = line.substr(0, pos); | |
| 50 | ✗ | coeffs(i, j) = std::strtod(token.c_str(), nullptr); | |
| 51 | |||
| 52 | ✗ | line.erase(0, pos + 1); | |
| 53 | |||
| 54 | ✗ | if (j < 5) | |
| 55 | { | ||
| 56 | ✗ | j++; | |
| 57 | } | ||
| 58 | } | ||
| 59 | } | ||
| 60 | ✗ | coeffs(i, 5) = std::strtod(line.c_str(), nullptr); | |
| 61 | ✗ | j = 0; | |
| 62 | ✗ | if (static_cast<uint32_t>(i + 1) < nmbrOfLines) | |
| 63 | { | ||
| 64 | ✗ | i++; | |
| 65 | } | ||
| 66 | } | ||
| 67 | } | ||
| 68 | else | ||
| 69 | { | ||
| 70 | ✗ | LOG_CRITICAL("Unable to open file 'egm96_to360.ascii' --> gravity vector compensation not trustworthy"); | |
| 71 | coeffs = Eigen::MatrixXd::Zero(1, 6); | ||
| 72 | } | ||
| 73 | ✗ | return coeffs; | |
| 74 | ✗ | } | |
| 75 |