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JAHRSCalibrationToolkit.hh
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1 #ifndef __JDB_JAHRSCALIBRATIONTOOLKIT__
2 #define __JDB_JAHRSCALIBRATIONTOOLKIT__
3 
4 #include "JDB/JAHRSCalibration.hh"
5 
6 #include "JTools/JRange.hh"
7 #include "JLang/JLangToolkit.hh"
8 #include "JLang/JManip.hh"
9 
10 /**
11  * \author mdejong
12  */
13 namespace JDATABASE {}
14 namespace JPP { using namespace JDATABASE; }
15 
16 namespace JDATABASE {
17 
18 
19  /**
20  * Read AHRS calibration from input stream.
21  *
22  * \param in input stream
23  * \param calibration AHRS calibration
24  * \return input stream
25  */
26  inline std::istream& operator>>(std::istream& in, JAHRSCalibration& calibration)
27  {
28  using namespace std;
29  using namespace JPP;
30 
31  in >> calibration.ACC_OFFSET_X
32  >> calibration.ACC_OFFSET_Y
33  >> calibration.ACC_OFFSET_Z;
34 
35  in >> calibration.ACC_ROT_XX >> calibration.ACC_ROT_XY >> calibration.ACC_ROT_XZ;
36  in >> calibration.ACC_ROT_YX >> calibration.ACC_ROT_YY >> calibration.ACC_ROT_YZ;
37  in >> calibration.ACC_ROT_ZX >> calibration.ACC_ROT_ZY >> calibration.ACC_ROT_ZZ;
38 
39  in >> calibration.MAG_XMIN
40  >> calibration.MAG_YMIN
41  >> calibration.MAG_ZMIN;
42 
43  in >> calibration.MAG_XMAX
44  >> calibration.MAG_YMAX
45  >> calibration.MAG_ZMAX;
46 
47  in >> calibration.MAG_ROT_XX >> calibration.MAG_ROT_XY >> calibration.MAG_ROT_XZ;
48  in >> calibration.MAG_ROT_YX >> calibration.MAG_ROT_YY >> calibration.MAG_ROT_YZ;
49  in >> calibration.MAG_ROT_ZX >> calibration.MAG_ROT_ZY >> calibration.MAG_ROT_ZZ;
50 
51  return in;
52  }
53 
54 
55  /**
56  * Write AHRS calibration to output stream.
57  *
58  * \param out output stream
59  * \param calibration AHRS calibration
60  * \return output stream
61  */
62  inline std::ostream& operator<<(std::ostream& out, const JAHRSCalibration& calibration)
63  {
64  using namespace std;
65  using namespace JPP;
66 
67  out << FIXED(9,6) << calibration.ACC_OFFSET_X << ' '
68  << FIXED(9,6) << calibration.ACC_OFFSET_Y << ' '
69  << FIXED(9,6) << calibration.ACC_OFFSET_Z << ' ';
70 
71  out << FIXED(9,6) << calibration.ACC_ROT_XX << ' ' << FIXED(9,6) << calibration.ACC_ROT_XY << ' ' << FIXED(9,6) << calibration.ACC_ROT_XZ << ' ';
72  out << FIXED(9,6) << calibration.ACC_ROT_YX << ' ' << FIXED(9,6) << calibration.ACC_ROT_YY << ' ' << FIXED(9,6) << calibration.ACC_ROT_YZ << ' ';
73  out << FIXED(9,6) << calibration.ACC_ROT_ZX << ' ' << FIXED(9,6) << calibration.ACC_ROT_ZY << ' ' << FIXED(9,6) << calibration.ACC_ROT_ZZ << ' ';
74 
75  out << FIXED(9,6) << calibration.MAG_XMIN << ' '
76  << FIXED(9,6) << calibration.MAG_YMIN << ' '
77  << FIXED(9,6) << calibration.MAG_ZMIN << ' ';
78 
79  out << FIXED(9,6) << calibration.MAG_XMAX << ' '
80  << FIXED(9,6) << calibration.MAG_YMAX << ' '
81  << FIXED(9,6) << calibration.MAG_ZMAX << ' ';
82 
83  out << FIXED(9,6) << calibration.MAG_ROT_XX << ' ' << FIXED(9,6) << calibration.MAG_ROT_XY << ' ' << FIXED(9,6) << calibration.MAG_ROT_XZ << ' ';
84  out << FIXED(9,6) << calibration.MAG_ROT_YX << ' ' << FIXED(9,6) << calibration.MAG_ROT_YY << ' ' << FIXED(9,6) << calibration.MAG_ROT_YZ << ' ';
85  out << FIXED(9,6) << calibration.MAG_ROT_ZX << ' ' << FIXED(9,6) << calibration.MAG_ROT_ZY << ' ' << FIXED(9,6) << calibration.MAG_ROT_ZZ << ' ';
86 
87  return out;
88  }
89 
90 
91  /**
92  * Get numerical value of AHRS calibration version.
93  *
94  * \param version version
95  * \return version
96  */
97  inline int getVersion(const std::string& version)
98  {
99  using namespace std;
100  using namespace JPP;
101 
102  size_t pos = version.find_last_of("vV");
103 
104  if (pos != string::npos)
105  return to_value<int>(version.substr(pos+1));
106  else
107  return -1;
108  }
109 
110 
111  /**
112  * Auxiliary data structure to check validity of AHRS calibration data.
113  */
114  struct JAHRSCalibrationValidity {
115 
116  typedef JTOOLS::JRange<double> range_type;
117 
118  /**
119  * Default constructor.
120  *
121  * This constructor sets default ranges of acceptance of AHRS calibration values.
122  */
123  JAHRSCalibrationValidity()
124  {
125  ACC_OFFSET_X = range_type(-1.0, +1.0);
126  ACC_OFFSET_Y = range_type(-1.0, +1.0);
127  ACC_OFFSET_Z = range_type(-1.0, +1.0);
128 
129  ACC_ROT[0][0] = range_type(+0.6, +1.8); ACC_ROT[0][1] = range_type(-1.0, +1.0); ACC_ROT[0][2] = range_type(-1.0, +1.0);
130  ACC_ROT[1][0] = range_type(-1.0, +1.0); ACC_ROT[1][1] = range_type(+0.6, +1.8); ACC_ROT[1][2] = range_type(-1.0, +1.0);
131  ACC_ROT[2][0] = range_type(-1.0, +1.0); ACC_ROT[2][1] = range_type(-1.0, +1.0); ACC_ROT[2][2] = range_type(+0.6, +1.8);
132 
133  MAG_OFFSET_X = range_type(-1.0, +1.0);
134  MAG_OFFSET_Y = range_type(-1.0, +1.0);
135  MAG_OFFSET_Z = range_type(-1.0, +1.0);
136 
137  MAG_ROT[0][0] = range_type(+0.6, +1.8); MAG_ROT[0][1] = range_type(-1.0, +1.0); MAG_ROT[0][2] = range_type(-1.0, +1.0);
138  MAG_ROT[1][0] = range_type(-1.0, +1.0); MAG_ROT[1][1] = range_type(+0.6, +1.8); MAG_ROT[1][2] = range_type(-1.0, +1.0);
139  MAG_ROT[2][0] = range_type(-1.0, +1.0); MAG_ROT[2][1] = range_type(-1.0, +1.0); MAG_ROT[2][2] = range_type(+0.6, +1.8);
140  }
141 
142 
143  /**
144  * Check validity of AHRS calibration data.
145  *
146  * \param calibration AHRS calibration
147  * \return true if valid; else false
148  */
149  bool operator()(const JAHRSCalibration& calibration) const
150  {
151  return (ACC_OFFSET_X(calibration.ACC_OFFSET_X) &&
152  ACC_OFFSET_Y(calibration.ACC_OFFSET_Y) &&
153  ACC_OFFSET_Z(calibration.ACC_OFFSET_Z) &&
154 
155  ACC_ROT[0][0](calibration.ACC_ROT_XX) && ACC_ROT[0][1](calibration.ACC_ROT_XY) && ACC_ROT[0][2](calibration.ACC_ROT_XZ) &&
156  ACC_ROT[1][0](calibration.ACC_ROT_YX) && ACC_ROT[1][1](calibration.ACC_ROT_YY) && ACC_ROT[1][2](calibration.ACC_ROT_YZ) &&
157  ACC_ROT[2][0](calibration.ACC_ROT_ZX) && ACC_ROT[2][1](calibration.ACC_ROT_ZY) && ACC_ROT[2][2](calibration.ACC_ROT_ZZ) &&
158 
159  MAG_OFFSET_X(0.5 * (calibration.MAG_XMIN + calibration.MAG_XMAX)) &&
160  MAG_OFFSET_Y(0.5 * (calibration.MAG_YMIN + calibration.MAG_YMAX)) &&
161  MAG_OFFSET_Z(0.5 * (calibration.MAG_ZMIN + calibration.MAG_ZMAX)) &&
162 
163  MAG_ROT[0][0](calibration.MAG_ROT_XX) && MAG_ROT[0][1](calibration.MAG_ROT_XY) && MAG_ROT[0][2](calibration.MAG_ROT_XZ) &&
164  MAG_ROT[1][0](calibration.MAG_ROT_YX) && MAG_ROT[1][1](calibration.MAG_ROT_YY) && MAG_ROT[1][2](calibration.MAG_ROT_YZ) &&
165  MAG_ROT[2][0](calibration.MAG_ROT_ZX) && MAG_ROT[2][1](calibration.MAG_ROT_ZY) && MAG_ROT[2][2](calibration.MAG_ROT_ZZ));
166  }
167 
168 
169  range_type ACC_OFFSET_X;
170  range_type ACC_OFFSET_Y;
171  range_type ACC_OFFSET_Z;
172 
173  range_type ACC_ROT[3][3];
174 
175  range_type MAG_OFFSET_X;
176  range_type MAG_OFFSET_Y;
177  range_type MAG_OFFSET_Z;
178 
179  range_type MAG_ROT[3][3];
180  };
181 
182 
183  /**
184  * Auxiliary data structure for sorting of AHRS calibrations.
185  */
186  struct JAHRSCalibrationComparator {
187  /**
188  * Comparison of operation identifiers.
189  *
190  * \param first first operation identifiers
191  * \param second second operation identifiers
192  * \return true if first calibration before second; else false
193  */
194  inline bool operator()(const std::string& first,
195  const std::string& second) const
196  {
197  using namespace std;
198  using namespace JPP;
199 
200  if (!first.empty() && !second.empty()) {
201 
202  if (first[0] == second[0])
203  return to_value<int>(first.substr(1)) < to_value<int>(second.substr(1));
204  else
205  return first[0] < second[0];
206 
207  } else {
208 
209  return first < second;
210  }
211  }
212 
213 
214  /**
215  * Comparison of AHRS calibrations.
216  *
217  * \param first first AHRS calibration
218  * \param second second AHRS calibration
219  * \return true if first AHRS calibration less then second; else false
220  */
221  inline bool operator()(const JAHRSCalibration& first,
222  const JAHRSCalibration& second) const
223  {
224  if (first.SERIALNUMBER == second.SERIALNUMBER) {
225 
226  if (first.TESTEND == second.TESTEND) {
227 
228  if (getVersion(first.TESTNAME) == getVersion(second.TESTNAME))
229  return (*this)(first.TESTOPID, second.TESTOPID);
230  else
231  return getVersion(first.TESTNAME) < getVersion(second.TESTNAME);
232 
233  } else {
234 
235  return first.TESTEND < second.TESTEND;
236  }
237 
238  } else {
239 
240  return first.SERIALNUMBER < second.SERIALNUMBER;
241  }
242  }
243  };
244 }
245 
246 #endif
JDATABASE::JAHRSCalibrationComparator::operator()
bool operator()(const JAHRSCalibration &first, const JAHRSCalibration &second) const
Comparison of AHRS calibrations.
Definition: JAHRSCalibrationToolkit.hh:221
JDATABASE::JAHRSCalibrationValidity::operator()
bool operator()(const JAHRSCalibration &calibration) const
Check validity of AHRS calibration data.
Definition: JAHRSCalibrationToolkit.hh:149
version
version
Definition: JEditTuneHV.sh:5
JDATABASE::getVersion
int getVersion(const std::string &version)
Get numerical value of AHRS calibration version.
Definition: JAHRSCalibrationToolkit.hh:97
FIXED
Auxiliary data structure for floating point format specification.
Definition: JManip.hh:446
JDATABASE::JAHRSCalibrationComparator
Auxiliary data structure for sorting of AHRS calibrations.
Definition: JAHRSCalibrationToolkit.hh:186
first
then echo The file $DIR KM3NeT_00000001_00000000 root already please rename or remove it first
Definition: JDOMDAQDriver.sh:57
string
then awk string
Definition: pre-calibration.sh:45
JManip.hh
I/O manipulators.
operator>>
std::istream & operator>>(std::istream &in, JAANET::JHead &header)
Read header from input.
Definition: JHead.hh:1814
JDATABASE::JAHRSCalibrationComparator::operator()
bool operator()(const std::string &first, const std::string &second) const
Comparison of operation identifiers.
Definition: JAHRSCalibrationToolkit.hh:194
JRange.hh
Auxiliary class to define a range between two values.
JDATABASE::JAHRSCalibrationValidity
Auxiliary data structure to check validity of AHRS calibration data.
Definition: JAHRSCalibrationToolkit.hh:114
operator<<
std::ostream & operator<<(std::ostream &stream, const CLBCommonHeader &header)
Definition: clb_common_header.hh:72
in
then fatal Wrong number of arguments fi set_variable DETECTOR $argv[1] set_variable INPUT_FILE $argv[2] eval JPrintDetector a $DETECTOR O IDENTIFIER eval JPrintDetector a $DETECTOR O SUMMARY JAcoustics sh $DETECTOR_ID source JAcousticsToolkit sh CHECK_EXIT_CODE typeset A EMITTERS get_tripods $WORKDIR tripod txt EMITTERS get_transmitters $WORKDIR transmitter txt EMITTERS for EMITTER in
Definition: JCanberra.sh:46
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