Computes Allan Deviation of IMU Observations. More...

Data Structures
struct	Sensor
	Data for each sensor. More...

Public Member Functions
	AllanDeviation ()
	Default constructor.
	AllanDeviation (AllanDeviation &&)=delete
	Move constructor.
	AllanDeviation (const AllanDeviation &)=delete
	Copy constructor.
void	guiConfig () override
	ImGui config window which is shown on double click.
AllanDeviation &	operator= (AllanDeviation &&)=delete
	Move assignment operator.
AllanDeviation &	operator= (const AllanDeviation &)=delete
	Copy assignment operator.
void	restore (const json &j) override
	Restores the node from a json object.
json	save () const override
	Saves the node into a json object.
std::string	type () const override
	String representation of the Class Type.
	~AllanDeviation () override
	Destructor.
Public Member Functions inherited from NAV::Node
virtual void	afterCreateLink (OutputPin &startPin, InputPin &endPin)
	Called when a new link was established.
virtual void	afterDeleteLink (OutputPin &startPin, InputPin &endPin)
	Called when a link was deleted.
bool	doDeinitialize (bool wait=false)
	Asks the node worker to deinitialize the node.
bool	doDisable (bool wait=false)
	Asks the node worker to disable the node.
bool	doEnable ()
	Enable the node.
bool	doInitialize (bool wait=false)
	Asks the node worker to initialize the node.
bool	doReinitialize (bool wait=false)
	Asks the node worker to reinitialize the node.
virtual void	flush ()
	Function called by the flow executer after finishing to flush out remaining data.
template<typename T>
std::optional< InputPin::IncomingLink::ValueWrapper< T > >	getInputValue (size_t portIndex) const
	Get Input Value connected on the pin. Only const data types.
Mode	getMode () const
	Get the current mode of the node.
const ImVec2 &	getSize () const
	Get the size of the node.
State	getState () const
	Get the current state of the node.
bool	hasInputPinWithSameTime (const InsTime &insTime) const
	Checks wether there is an input pin with the same time.
InputPin &	inputPinFromId (ax::NodeEditor::PinId pinId)
	Returns the pin with the given id.
size_t	inputPinIndexFromId (ax::NodeEditor::PinId pinId) const
	Returns the index of the pin.
void	invokeCallbacks (size_t portIndex, const std::shared_ptr< const NodeData > &data)
	Calls all registered callbacks on the specified output port.
bool	isDisabled () const
	Checks if the node is disabled.
bool	isInitialized () const
	Checks if the node is initialized.
bool	isOnlyRealtime () const
	Checks if the node is only working in real time (sensors, network interfaces, ...)
bool	isTransient () const
	Checks if the node is changing its state currently.
std::string	nameId () const
	Node name and id.
	Node (const Node &)=delete
	Copy constructor.
	Node (Node &&)=delete
	Move constructor.
	Node (std::string name)
	Constructor.
void	notifyOutputValueChanged (size_t pinIdx, const InsTime &insTime, const std::scoped_lock< std::mutex > &&guard)
	Notifies connected nodes about the change.
virtual bool	onCreateLink (OutputPin &startPin, InputPin &endPin)
	Called when a new link is to be established.
virtual void	onDeleteLink (OutputPin &startPin, InputPin &endPin)
	Called when a link is to be deleted.
Node &	operator= (const Node &)=delete
	Copy assignment operator.
Node &	operator= (Node &&)=delete
	Move assignment operator.
OutputPin &	outputPinFromId (ax::NodeEditor::PinId pinId)
	Returns the pin with the given id.
size_t	outputPinIndexFromId (ax::NodeEditor::PinId pinId) const
	Returns the index of the pin.
void	releaseInputValue (size_t portIndex)
	Unblocks the connected node. Has to be called when the input value should be released and getInputValue was not called.
std::scoped_lock< std::mutex >	requestOutputValueLock (size_t pinIdx)
	Blocks the thread till the output values was read by all connected nodes.
virtual bool	resetNode ()
	Resets the node. It is guaranteed that the node is initialized when this is called.
virtual void	restoreAtferLink (const json &j)
	Restores link related properties of the node from a json object.
void	wakeWorker ()
	Wakes the worker thread.
virtual	~Node ()
	Destructor.

Static Public Member Functions
static std::string	category ()
	String representation of the Class Category.
static std::string	typeStatic ()
	String representation of the Class Type.
Static Public Member Functions inherited from NAV::Node
static std::string	toString (State state)
	Converts the state into a printable text.

Private Types
enum	SensorType : uint8_t { Accel , Gyro , SensorType_COUNT }
	Sensor types. More...

Private Member Functions
void	deinitialize () override
	Deinitialize the node.
bool	initialize () override
	Initialize the node.
void	receiveImuObs (InputPin::NodeDataQueue &queue, size_t pinIdx)
	Receive Sensor Data.

Static Private Member Functions
static const char *	to_string (SensorType sensorType)
	Returns a string representation of the type.
static const char *	unitString (SensorType sensorType)
	Returns a string for the unit of the type.

Private Attributes
std::vector< double >	_averagingFactors
	averaging factors (n) used for Allan Variance computation
double	_averagingFactorsPerDecade
	number of averaging factors per decade
std::vector< double >	_averagingTimes
	averaging times (τ)
float	_confidenceFillAlpha
	The alpha value for the shaded plot of the confidence intervals.
std::vector< double >	_confidenceMultiplicationFactor
	multiplication factor for simple confidence
bool	_displayConfidence
	Flag wether to display confidence intervals.
unsigned int	_imuObsCount
	number of IMU observations / length of cumulative sums
unsigned int	_nextAveragingFactor
	next averaging factor to be appended to _averagingFactors
unsigned int	_nextAveragingFactorExponent
	exponent of next averaging factor
std::vector< double >	_observationCount
	number of observations for each τ
double	_samplingInterval
	sampling interval
std::array< Sensor, SensorType_COUNT >	_sensors
	Sensor data.
InsTime	_startingInsTime
	Time of first epoch received.
bool	_updateLast
	Flag wether to update the plot for each message or once at the end.

Static Private Attributes
static constexpr size_t	INPUT_PORT_INDEX_IMU_OBS
	Flow (ImuObs)

Additional Inherited Members
Public Types inherited from NAV::Node
enum class	Mode : uint8_t { REAL_TIME , POST_PROCESSING }
	Different Modes the Node can work in. More...
enum class	State : uint8_t { Disabled , Deinitialized , DoInitialize , Initializing , Initialized , DoDeinitialize , Deinitializing , DoShutdown , Shutdown }
	Possible states of the node. More...
Data Fields inherited from NAV::Node
bool	callbacksEnabled
	Enables the callbacks.
ax::NodeEditor::NodeId	id
	Unique Id of the Node.
std::vector< InputPin >	inputPins
	List of input pins.
Kind	kind
	Kind of the Node.
std::string	name
	Name of the Node.
std::vector< OutputPin >	outputPins
	List of output pins.
std::multimap< InsTime, std::pair< OutputPin *, size_t > >	pollEvents
	Map with callback events (sorted by time)
Protected Attributes inherited from NAV::Node
ImVec2	_guiConfigDefaultWindowSize
bool	_hasConfig
	Flag if the config window should be shown.
bool	_lockConfigDuringRun
	Lock the config when executing post-processing.
bool	_onlyRealTime
	Whether the node can run in post-processing or only real-time.

Detailed Description

Computes Allan Deviation of IMU Observations.

Definition at line 28 of file AllanDeviation.hpp.

Member Enumeration Documentation

◆ SensorType

enum NAV::AllanDeviation::SensorType : uint8_t

private

Sensor types.

Enumerator
Accel	Accelerometer.
Gyro	Gyroscope.
SensorType_COUNT	Amount of sensors to use.

Definition at line 81 of file AllanDeviation.hpp.

Constructor & Destructor Documentation

◆ AllanDeviation() [1/3]

NAV::AllanDeviation::AllanDeviation ( )

Default constructor.

Definition at line 34 of file AllanDeviation.cpp.

◆ ~AllanDeviation()

NAV::AllanDeviation::~AllanDeviation ( )

override

Destructor.

Definition at line 46 of file AllanDeviation.cpp.

◆ AllanDeviation() [2/3]

NAV::AllanDeviation::AllanDeviation ( const AllanDeviation & )

delete

Copy constructor.

◆ AllanDeviation() [3/3]

NAV::AllanDeviation::AllanDeviation ( AllanDeviation && )

delete

Move constructor.

Member Function Documentation

◆ category()

std::string NAV::AllanDeviation::category ( )

staticnodiscard

String representation of the Class Category.

Definition at line 61 of file AllanDeviation.cpp.

◆ deinitialize()

void NAV::AllanDeviation::deinitialize ( )

overrideprivatevirtual

Deinitialize the node.

Reimplemented from NAV::Node.

Definition at line 198 of file AllanDeviation.cpp.

◆ guiConfig()

void NAV::AllanDeviation::guiConfig ( )

overridevirtual

ImGui config window which is shown on double click.

Attention: Don't forget to set _hasConfig to true in the constructor of the node

Reimplemented from NAV::Node.

Definition at line 66 of file AllanDeviation.cpp.

◆ initialize()

bool NAV::AllanDeviation::initialize ( )

overrideprivatevirtual

Initialize the node.

Reimplemented from NAV::Node.

Definition at line 168 of file AllanDeviation.cpp.

◆ operator=() [1/2]

AllanDeviation & NAV::AllanDeviation::operator= ( AllanDeviation && )

delete

Move assignment operator.

◆ operator=() [2/2]

AllanDeviation & NAV::AllanDeviation::operator= ( const AllanDeviation & )

delete

Copy assignment operator.

◆ receiveImuObs()

void NAV::AllanDeviation::receiveImuObs	(	InputPin::NodeDataQueue &	queue,
		size_t	pinIdx )

private

Receive Sensor Data.

Parameters

[in]	queue	Queue with all the received data messages
[in]	pinIdx	Index of the pin the data is received on

Definition at line 203 of file AllanDeviation.cpp.

◆ restore()

void NAV::AllanDeviation::restore ( const json & j )

overridevirtual

Restores the node from a json object.

Parameters

[in] j Json object with the node state

Reimplemented from NAV::Node.

Definition at line 159 of file AllanDeviation.cpp.

◆ save()

json NAV::AllanDeviation::save ( ) const

nodiscardoverridevirtual

Saves the node into a json object.

Reimplemented from NAV::Node.

Definition at line 148 of file AllanDeviation.cpp.

◆ to_string()

const char * NAV::AllanDeviation::to_string ( SensorType sensorType )

staticprivate

Returns a string representation of the type.

Parameters

[in] sensorType Sensor Type

Definition at line 330 of file AllanDeviation.cpp.

◆ type()

std::string NAV::AllanDeviation::type ( ) const

nodiscardoverridevirtual

String representation of the Class Type.

Implements NAV::Node.

Definition at line 56 of file AllanDeviation.cpp.

◆ typeStatic()

std::string NAV::AllanDeviation::typeStatic ( )

staticnodiscard

String representation of the Class Type.

Definition at line 51 of file AllanDeviation.cpp.

◆ unitString()

const char * NAV::AllanDeviation::unitString ( SensorType sensorType )

staticprivate

Returns a string for the unit of the type.

Parameters

[in] sensorType Sensor Type

Definition at line 344 of file AllanDeviation.cpp.

Field Documentation

◆ _averagingFactors

std::vector<double> NAV::AllanDeviation::_averagingFactors

private

averaging factors (n) used for Allan Variance computation

Definition at line 123 of file AllanDeviation.hpp.

◆ _averagingFactorsPerDecade

double NAV::AllanDeviation::_averagingFactorsPerDecade

private

number of averaging factors per decade

Definition at line 135 of file AllanDeviation.hpp.

◆ _averagingTimes

std::vector<double> NAV::AllanDeviation::_averagingTimes

private

averaging times (τ)

Definition at line 126 of file AllanDeviation.hpp.

◆ _confidenceFillAlpha

float NAV::AllanDeviation::_confidenceFillAlpha

private

The alpha value for the shaded plot of the confidence intervals.

Definition at line 149 of file AllanDeviation.hpp.

◆ _confidenceMultiplicationFactor

std::vector<double> NAV::AllanDeviation::_confidenceMultiplicationFactor

private

multiplication factor for simple confidence

Definition at line 144 of file AllanDeviation.hpp.

◆ _displayConfidence

bool NAV::AllanDeviation::_displayConfidence

private

Flag wether to display confidence intervals.

Definition at line 147 of file AllanDeviation.hpp.

◆ _imuObsCount

unsigned int NAV::AllanDeviation::_imuObsCount

private

number of IMU observations / length of cumulative sums

Definition at line 132 of file AllanDeviation.hpp.

◆ _nextAveragingFactor

unsigned int NAV::AllanDeviation::_nextAveragingFactor

private

next averaging factor to be appended to _averagingFactors

Definition at line 138 of file AllanDeviation.hpp.

◆ _nextAveragingFactorExponent

unsigned int NAV::AllanDeviation::_nextAveragingFactorExponent

private

exponent of next averaging factor

Definition at line 141 of file AllanDeviation.hpp.

◆ _observationCount

std::vector<double> NAV::AllanDeviation::_observationCount

private

number of observations for each τ

Definition at line 129 of file AllanDeviation.hpp.

◆ _samplingInterval

double NAV::AllanDeviation::_samplingInterval

private

sampling interval

Definition at line 117 of file AllanDeviation.hpp.

◆ _sensors

std::array<Sensor, SensorType_COUNT> NAV::AllanDeviation::_sensors

private

Sensor data.

Definition at line 114 of file AllanDeviation.hpp.

◆ _startingInsTime

InsTime NAV::AllanDeviation::_startingInsTime

private

Time of first epoch received.

Definition at line 120 of file AllanDeviation.hpp.

◆ _updateLast

bool NAV::AllanDeviation::_updateLast

private

Flag wether to update the plot for each message or once at the end.

Definition at line 151 of file AllanDeviation.hpp.

◆ INPUT_PORT_INDEX_IMU_OBS

size_t NAV::AllanDeviation::INPUT_PORT_INDEX_IMU_OBS

staticconstexprprivate

Flow (ImuObs)

Definition at line 65 of file AllanDeviation.hpp.

The documentation for this class was generated from the following files:

/home/runner/work/INSTINCT/INSTINCT/src/Nodes/DataProcessor/ErrorModel/AllanDeviation.hpp
/home/runner/work/INSTINCT/INSTINCT/src/Nodes/DataProcessor/ErrorModel/AllanDeviation.cpp

Data Structures

Public Member Functions

Static Public Member Functions

Private Types

Private Member Functions

Static Private Member Functions

Private Attributes

Static Private Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ SensorType

Constructor & Destructor Documentation

◆ AllanDeviation() [1/3]

◆ ~AllanDeviation()

◆ AllanDeviation() [2/3]

◆ AllanDeviation() [3/3]

Member Function Documentation

◆ category()

◆ deinitialize()

◆ guiConfig()

◆ initialize()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ receiveImuObs()

◆ restore()

◆ save()

◆ to_string()

◆ type()

◆ typeStatic()

◆ unitString()

Field Documentation

◆ _averagingFactors

◆ _averagingFactorsPerDecade

◆ _averagingTimes

◆ _confidenceFillAlpha

◆ _confidenceMultiplicationFactor

◆ _displayConfidence

◆ _imuObsCount

◆ _nextAveragingFactor

◆ _nextAveragingFactorExponent

◆ _observationCount

◆ _samplingInterval

◆ _sensors

◆ _startingInsTime

◆ _updateLast

◆ INPUT_PORT_INDEX_IMU_OBS