ImuIntegrator.hpp

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// 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 "Navigation/INS/InertialIntegrator.hpp"
 
namespace NAV
{
class ImuIntegrator : public Node
{
  public:
    ImuIntegrator();
    ~ImuIntegrator() override;
    ImuIntegrator(const ImuIntegrator&) = delete;
    ImuIntegrator(ImuIntegrator&&) = delete;
    ImuIntegrator& operator=(const ImuIntegrator&) = delete;
    ImuIntegrator& operator=(ImuIntegrator&&) = 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;
 
  private:
    constexpr static size_t OUTPUT_PORT_INDEX_INERTIAL_NAV_SOL = 0; 
    constexpr static size_t INPUT_PORT_INDEX_IMU_OBS = 0;           
    constexpr static size_t INPUT_PORT_INDEX_POS_VEL_ATT_INIT = 1;  
 
    bool initialize() override;
 
    void deinitialize() override;
 
    void recvPosVelAttInit(InputPin::NodeDataQueue& queue, size_t pinIdx);
 
    void recvObservation(InputPin::NodeDataQueue& queue, size_t pinIdx);
 
    InertialIntegrator _inertialIntegrator;
 
    bool _preferAccelerationOverDeltaMeasurements = false;
};
 
} // namespace NAV