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/***********************************************/
/**
* @file noiseAccelerometer.cpp
*
* @brief Add noise and bias to accelerometer data.
*
* @author Torsten Mayer-Guerr
* @date 2005-01-21
*/
/***********************************************/
// Latex documentation
#define DOCSTRING docstring
static const char *docstring = R"(
This program adds noise and biases to simulated \file{accelerometer data}{instrument}
generated by \program{SimulateAccelerometer}.
See \configClass{noiseGenerator}{noiseGeneratorType} for details on noise generation.
)";
/***********************************************/
#include "programs/program.h"
#include "files/fileInstrument.h"
#include "classes/noiseGenerator/noiseGenerator.h"
/***** CLASS ***********************************/
/** @brief Add noise and bias to accelerometer data.
* @ingroup programsGroup */
class NoiseAccelerometer
{
public:
void run(Config &config, Parallel::CommunicatorPtr comm);
};
GROOPS_REGISTER_PROGRAM(NoiseAccelerometer, PARALLEL, "add noise and bias to accelerometer data", Simulation, Noise, Instrument)
/***********************************************/
void NoiseAccelerometer::run(Config &config, Parallel::CommunicatorPtr comm)
{
try
{
FileName accelerometerInName, accelerometerOutName;
NoiseGeneratorPtr noiseGeneratorAlong, noiseGeneratorCross, noiseGeneratorRadial;
Vector3d bias;
readConfig(config, "outputfileAccelerometer", accelerometerOutName, Config::MUSTSET, "", "");
readConfig(config, "inputfileAccelerometer", accelerometerInName, Config::MUSTSET, "", "");
readConfig(config, "biasAlong", bias.x(), Config::DEFAULT, "0", "[m/s**2]");
readConfig(config, "biasCross", bias.y(), Config::DEFAULT, "0", "[m/s**2]");
readConfig(config, "biasRadial", bias.z(), Config::DEFAULT, "0", "[m/s**2]");
readConfig(config, "noiseAlong", noiseGeneratorAlong, Config::DEFAULT, "", "[m/s**2]");
readConfig(config, "noiseCross", noiseGeneratorCross, Config::DEFAULT, "", "[m/s**2]");
readConfig(config, "noiseRadial", noiseGeneratorRadial, Config::DEFAULT, "", "[m/s**2]");
if(isCreateSchema(config)) return;
logStatus<<"add noise to accelerometer data <"<<accelerometerInName<<">"<<Log::endl;
InstrumentFile accFile(accelerometerInName);
std::vector<Arc> arcList(accFile.arcCount());
Parallel::forEach(arcList, [&](UInt arcNo)
{
AccelerometerArc acc = accFile.readArc(arcNo);
const Vector eX = noiseGeneratorAlong->noise(acc.size());
const Vector eY = noiseGeneratorCross->noise(acc.size());
const Vector eZ = noiseGeneratorRadial->noise(acc.size());
for(UInt i=0; i<acc.size(); i++)
acc.at(i).acceleration += bias + Vector3d(eX(i), eY(i), eZ(i));
return acc;
}, comm);
if(Parallel::isMaster(comm))
{
logStatus<<"write accelerometer data to file <"<<accelerometerOutName<<">"<<Log::endl;
InstrumentFile::write(accelerometerOutName, arcList);
}
}
catch(std::exception &e)
{
GROOPS_RETHROW(e)
}
}
/***********************************************/
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