LowPassFilter.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 "NodeData/IMU/ImuObs.hpp"
#include "NodeData/IMU/ImuObsWDelta.hpp"
 
#include "util/Eigen.hpp"
#include <map>
 
namespace NAV
{
class LowPassFilter : public Node
{
  public:
    LowPassFilter();
    ~LowPassFilter() override;
    LowPassFilter(const LowPassFilter&) = delete;
    LowPassFilter(LowPassFilter&&) = delete;
    LowPassFilter& operator=(const LowPassFilter&) = delete;
    LowPassFilter& operator=(LowPassFilter&&) = 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_FLOW = 0; 
    constexpr static size_t INPUT_PORT_INDEX_FLOW = 0;  
 
    // ###########################################################################################################
 
    enum class FilterType : uint8_t
    {
        Linear, 
        // Experimental,
        COUNT, 
    };
 
    struct FilterItem
    {
        FilterItem() = default;
 
        FilterItem(std::string dataDescription, size_t dataIndex)
            : dataDescription(std::move(dataDescription)), dataIndex(dataIndex) {}
 
        std::string dataDescription;
        size_t dataIndex = 0;
        FilterType filterType = FilterType::Linear;
        double linear_filter_cutoff_frequency = 10.0;
        std::map<InsTime, double> dataToFilter;
        bool modified = true;
    };
 
    size_t _gui_availableItemsSelection = 0;
 
    std::vector<std::string> _availableItems;
    std::vector<FilterItem> _filterItems;
 
    static const char* to_string(FilterType value);
 
    bool resetNode() override;
 
    void afterCreateLink(OutputPin& startPin, InputPin& endPin) override;
 
    void afterDeleteLink(OutputPin& startPin, InputPin& endPin) override;
 
    void receiveObs(InputPin::NodeDataQueue& queue, size_t pinIdx);
 
    [[nodiscard]] static std::optional<double> filterData(FilterItem& item, const InsTime& insTime, double value);
 
    friend void to_json(json& j, const FilterItem& data);
    friend void from_json(const json& j, FilterItem& data);
};
 
void to_json(json& j, const NAV::LowPassFilter::FilterItem& data);
void from_json(const json& j, NAV::LowPassFilter::FilterItem& data);
 
} // namespace NAV