PosVelAttFile.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/.
 
/// @file PosVelAttFile.hpp
/// @brief PosVelAtt File Reader
/// @author T. Topp (topp@ins.uni-stuttgart.de)
/// @date 2023-05-23
 
#pragma once
 
#include "internal/Node/Node.hpp"
#include "Nodes/DataProvider/Protocol/FileReader.hpp"
 
namespace NAV
{
/// File Reader for Imu log files
class PosVelAttFile : public Node, public FileReader
{
  public:
    /// @brief Default constructor
    PosVelAttFile();
    /// @brief Destructor
    ~PosVelAttFile() override;
    /// @brief Copy constructor
    PosVelAttFile(const PosVelAttFile&) = delete;
    /// @brief Move constructor
    PosVelAttFile(PosVelAttFile&&) = delete;
    /// @brief Copy assignment operator
    PosVelAttFile& operator=(const PosVelAttFile&) = delete;
    /// @brief Move assignment operator
    PosVelAttFile& operator=(PosVelAttFile&&) = delete;
 
    /// @brief String representation of the Class Type
    [[nodiscard]] static std::string typeStatic();
 
    /// @brief String representation of the Class Type
    [[nodiscard]] std::string type() const override;
 
    /// @brief String representation of the Class Category
    [[nodiscard]] static std::string category();
 
    /// @brief ImGui config window which is shown on double click
    /// @attention Don't forget to set _hasConfig to true in the constructor of the node
    void guiConfig() override;
 
    /// @brief Saves the node into a json object
    [[nodiscard]] json save() const override;
 
    /// @brief Restores the node from a json object
    /// @param[in] j Json object with the node state
    void restore(const json& j) override;
 
    /// @brief Resets the node. Moves the read cursor to the start
    bool resetNode() override;
 
  private:
    constexpr static size_t OUTPUT_PORT_INDEX_PVA = 0;            ///< @brief Flow (PosVelAtt)
    constexpr static size_t OUTPUT_PORT_INDEX_HEADER_COLUMNS = 1; ///< @brief Object (std::vector<std::string>)
 
    /// @brief Data included in the file
    enum class FileContent : uint8_t
    {
        Pos,       ///< Position only
        PosVel,    ///< Position and Velocity
        PosVelAtt, ///< Position, Velocity and Attitude
    };
 
    /// @brief Initialize the node
    bool initialize() override;
 
    /// @brief Deinitialize the node
    void deinitialize() override;
 
    /// @brief Polls data from the file
    /// @return The read observation
    [[nodiscard]] std::shared_ptr<const NodeData> pollData();
 
    /// Data included in the file
    FileContent _fileContent = FileContent::Pos;
};
 
} // namespace NAV