MagneticCalibration.h

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#pragma once
#include "DLLInfo.h"
#include <NDEVR/IOFactory.h>
#include <NDEVR/Model.h>
#include <NDEVR/Buffer.h>
#include <NDEVR/Vector.h>
namespace NDEVR
{
    /**--------------------------------------------------------------------------------------------------
    Class: MagneticCalibrationData
 
    \brief Stores magnetic calibration data as a Model including the transformation and calibration points
    \ingroup Hardware Magnetometer
    *-----------------------------------------------------------------------------------------------**/
    class HARDWARE_API MagneticCalibrationData : public Model
    {
    public:
        MagneticCalibrationData(const Model& model);
        MagneticCalibrationData();
        Vector<3, fltp08> correct(Vertex<3, fltp08> vec);
        void addCalibrationPoint(const Vector<3, fltp08>& point, fltp08 hm = 1.0);
        void clearData();
        bool resetToActive();
        void calculate(fltp08 hm = 1.0);
        void removeOutliers(fltp08 rejection);
        void writeToFile(File calibration_file, bool is_active);
        void readFromFile(File calibration_file, bool is_active);
        void setVertices(const Buffer<Vector<3, fltp08>>& vertices);
        void setB(const Vector<3, fltp08>& B);
        void setA(const Vector<9, fltp08>& A);
        Vector<3, fltp08> B() const;
        Vector<9, fltp08> A() const;
        Buffer<Vector<3, fltp08>> data() const;
        fltp08 stdDev() const;
        fltp08 meanVectorLength() const;
        Model calibratedModel() const;
        Model uncalibratedModel() const;
        bool hasSufficientData() const;
        fltp04 calibrationPercent() const;
        uint04 dataSize() const;
        static constexpr const char* TypeName() { return "magnetic_calibration"; }
        static Matrix<fltp08> CalibrationMatrix(const Vector<9, fltp08>& A, const Vector<3, fltp08>& B);
    protected:
        void updateAndApplyCalibrationMatrix(const Vector<9, fltp08>& A, const Vector<3, fltp08>& B);
    protected:
        void init();
    };
 
    /**--------------------------------------------------------------------------------------------------
    Class: MagneticCalibrationFactory
 
    \brief IOFactory interface for reading and writing MagneticCalibrationData to files.
    \ingroup Hardware Magnetometer
    *-----------------------------------------------------------------------------------------------**/
    class HARDWARE_API MagneticCalibrationFactory final : public IOFactory
    {
    public:
        MagneticCalibrationFactory();
    private:
        void getSupportedFormats(Buffer<FileFormat>& formats, bool is_read) override;
        Buffer<UUID> filterModelsToExport(Buffer<UUID> models_to_check, const DesignObjectLookup* lookup, const FileFormat& export_format) const override;
        bool readFile(FactoryParameters& file) override;
        bool writeFile(FactoryParameters& file) override;
        virtual FactoryFeatures factoryFeatures(const FactoryParameters& file, bool is_import) const override;
    };
}