ImuSelfTest.hpp

#pragma once
 
#include <fmt/format.h>
 
#include "../utils/eigen_formatters.hpp"
#include "Eigen/Geometry"
 
namespace blunux::imu {
 
struct ImuSelfTest {
  Eigen::Vector3d acc_mean =
      Eigen::Vector3d::Zero(); 
  Eigen::Vector3d acc_variance =
      Eigen::Vector3d::Zero(); 
  Eigen::Vector3d gyro_mean =
      Eigen::Vector3d::Zero(); 
  Eigen::Vector3d gyro_variance =
      Eigen::Vector3d::Zero(); 
  Eigen::Vector3d compass_mean =
      Eigen::Vector3d::Zero(); 
  Eigen::Vector3d compass_variance =
      Eigen::Vector3d::Zero(); 
  bool acc_variance_ok = false;
 
  bool gyro_variance_ok = false;
 
  bool compass_variance_ok = false;
 
  bool test_passed = false;
};
 
}  // namespace blunux::imu
 
template <>
struct fmt::formatter<blunux::imu::ImuSelfTest> {
  template <typename ParseContext>
  // NOLINTNEXTLINE(runtime/references)
  constexpr auto parse(ParseContext& ctx) {
    return ctx.begin();
  }
 
  template <typename FormatContext>
  // NOLINTNEXTLINE(runtime/references)
  auto format(blunux::imu::ImuSelfTest const& test, FormatContext& ctx) {
    return fmt::format_to(
        ctx.out(),
        "Self test:\nacc_mean: {}\nacc_variance: {}\ngyro_mean: "
        "{}\ngyro_variance: {}\ncompass_mean: "
        "{}\ncompass_variance: {}\nacc_variance_ok: "
        "{}\ngyro_variance_ok: {}\ncompass_variance_ok: {}\n"
        "test_passed: {}",
        test.acc_mean, test.acc_variance, test.gyro_mean, test.gyro_variance,
        test.compass_mean, test.compass_variance, test.acc_variance_ok,
        test.gyro_variance_ok, test.compass_variance_ok, test.test_passed);
  }
};