TwelveParametersCorrector.cpp

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/* Copyright (c) 2025 Skyward Experimental Rocketry
 * Author: Tommaso Lamon
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in
 * all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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 * THE SOFTWARE.
 */
 
#include "TwelveParametersCorrector.h"
 
#include <fstream>
 
namespace Boardcore
{
 
TwelveParametersCorrector::TwelveParametersCorrector(Eigen::Matrix3f W,
                                                     Eigen::Vector3f V)
    : V(V), W(W)
{
}
 
TwelveParametersCorrector::TwelveParametersCorrector()
    : V(Eigen::Vector3f::Zero()), W(Eigen::Matrix3f::Identity())
{
}
 
bool TwelveParametersCorrector::fromFile(const std::string& filename)
{
    std::ifstream inputFile(filename);
 
    if (inputFile)
    {
        inputFile.ignore(1000, '\n');
 
        for (int i = 0; i < 3; i++)
        {
            for (int j = 0; j < 3; j++)
            {
                inputFile >> W(i, j);
                inputFile.ignore(1, ',');
            }
        }
 
        for (int i = 0; i < 3; i++)
        {
            inputFile >> V(i);
            inputFile.ignore(1, ',');
        }
 
        return true;
    }
    else
    {
        return false;
    }
}
 
bool TwelveParametersCorrector::toFile(const std::string& filename)
{
    std::ofstream outputFile(filename);
 
    if (outputFile)
    {
        outputFile << "w00,w01,w02,w10,w11,w12,w20,w21,w22,v0,v1,v2"
                   << std::endl;
        outputFile << W(0, 0) << "," << W(0, 1) << "," << W(0, 2) << ","
                   << W(1, 0) << "," << W(1, 1) << "," << W(1, 2) << ","
                   << W(2, 0) << "," << W(2, 1) << "," << W(2, 2) << "," << V(0)
                   << "," << V(1) << "," << V(2) << std::endl;
        return true;
    }
    else
    {
        return false;
    }
}
 
Eigen::Vector3f TwelveParametersCorrector::correct(
    const Eigen::Vector3f& inputVector) const
{
    return (W * inputVector) + V;
}
 
Eigen::Vector3f TwelveParametersCorrector::getV() const { return V; }
 
void TwelveParametersCorrector::setV(const Eigen::Vector3f& V) { this->V = V; }
 
Eigen::Matrix3f TwelveParametersCorrector::getW() const { return W; }
 
void TwelveParametersCorrector::setW(const Eigen::Matrix3f& W) { this->W = W; }
 
}  // namespace Boardcore