SinglePointPositioning.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 "internal/gui/widgets/DynamicInputPins.hpp"
 
#include "Navigation/Transformations/Units.hpp"
#include "Navigation/Math/KalmanFilter.hpp"
#include "Navigation/Math/LeastSquares.hpp"
#include "Navigation/GNSS/Functions.hpp"
#include "Navigation/GNSS/Positioning/SPP/Algorithm.hpp"
#include "Navigation/GNSS/Satellite/internal/SatNavData.hpp"
 
#include "util/Eigen.hpp"
 
namespace NAV
{
class SinglePointPositioning : public Node
{
  public:
    SinglePointPositioning();
    ~SinglePointPositioning() override;
    SinglePointPositioning(const SinglePointPositioning&) = delete;
    SinglePointPositioning(SinglePointPositioning&&) = delete;
    SinglePointPositioning& operator=(const SinglePointPositioning&) = delete;
    SinglePointPositioning& operator=(SinglePointPositioning&&) = 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 INPUT_PORT_INDEX_GNSS_OBS = 0;      
    constexpr static size_t INPUT_PORT_INDEX_GNSS_NAV_INFO = 1; 
 
    constexpr static size_t OUTPUT_PORT_INDEX_SPPSOL = 0; 
 
    bool initialize() override;
 
    void deinitialize() override;
 
    static void pinAddCallback(Node* node);
    static void pinDeleteCallback(Node* node, size_t pinIdx);
 
    SPP::Algorithm _algorithm;
 
    gui::widgets::DynamicInputPins _dynamicInputPins{ INPUT_PORT_INDEX_GNSS_NAV_INFO, this, pinAddCallback, pinDeleteCallback };
 
    // /// Estimator type
    // GNSS::Positioning::SPP::EstimatorType _estimatorType = GNSS::Positioning::SPP::EstimatorType::WEIGHTED_LEAST_SQUARES;
 
    // /// @brief SPP Kalman filter
    // GNSS::Positioning::SPP::SppKalmanFilter _kalmanFilter;
 
    // /// State estimated by the algorithm
    // GNSS::Positioning::SPP::State _state;
 
    // /// @brief All Inter-system clock error keys
    // std::vector<GNSS::Positioning::SPP::States::StateKeyTypes> _interSysErrs{};
    // /// @brief All Inter-system clock drift keys
    // /// @note Groves2013 does not estimate inter-system drifts, but we do for all models.
    // std::vector<GNSS::Positioning::SPP::States::StateKeyTypes> _interSysDrifts{};
 
    void recvGnssObs(InputPin::NodeDataQueue& queue, size_t pinIdx);
};
 
} // namespace NAV