Delay.hpp

Go to the documentation of this file.

// This file is part of INSTINCT, the INS Toolkit for Integrated
// Navigation Concepts and Training by the Institute of Navigation of
// the University of Stuttgart, Germany.
//
// This Source Code Form is subject to the terms of the Mozilla Public
// License, v. 2.0. If a copy of the MPL was not distributed with this
// file, You can obtain one at https://mozilla.org/MPL/2.0/.
 
 
#pragma once
 
#include "internal/Node/Node.hpp"
 
#include "util/Eigen.hpp"
 
#include <deque>
 
namespace NAV::experimental
{
class Delay : public Node
{
  public:
    Delay();
    ~Delay() override;
    Delay(const Delay&) = delete;
    Delay(Delay&&) = delete;
    Delay& operator=(const Delay&) = delete;
    Delay& operator=(Delay&&) = delete;
 
    [[nodiscard]] static std::string typeStatic();
 
    [[nodiscard]] std::string type() const override;
 
    [[nodiscard]] static std::string category();
 
    void guiConfig() override;
 
    [[nodiscard]] json save() const override;
 
    void restore(const json& j) override;
 
    bool onCreateLink(OutputPin& startPin, InputPin& endPin) override;
 
  private:
    constexpr static size_t OUTPUT_PORT_INDEX_FLOW = 0; 
    constexpr static size_t INPUT_PORT_INDEX_FLOW = 0;  
 
    bool initialize() override;
 
    void deinitialize() override;
 
    void delayObs(InputPin::NodeDataQueue& queue, size_t pinIdx);
 
    int _delayLength = 1;
 
    std::deque<std::shared_ptr<const NodeData>> _buffer;
};
 
} // namespace NAV::experimental