Convert RTKLib pos files into PosVel. More...

Public Member Functions
	BaroSimulator ()
	Default constructor.

	BaroSimulator (BaroSimulator &&)=delete
	Move constructor.

	BaroSimulator (const BaroSimulator &)=delete
	Copy constructor.

void	guiConfig () override
	ImGui config window which is shown on double click.

BaroSimulator &	operator= (BaroSimulator &&)=delete
	Move assignment operator.

BaroSimulator &	operator= (const BaroSimulator &)=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.

	~BaroSimulator () 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 class	GravityInput : uint8_t { Manual , Position , COUNT }
	Available options for gravity input. More...

Private Member Functions
void	deinitialize () override
	Deinitialize the node.

bool	initialize () override
	Initialize the node.

void	receiveObs (InputPin::NodeDataQueue &queue, size_t pinIdx)
	Converts the RtklibPosObs into PosVel.

Private Attributes
double	_exponent
	save computations, by storing g * M / R0 / L;

double	_geoidhgt
	Geoid undulation in m.

double	_gravity
	Gravity in m / s²

GravityInput	_gravityInput
	Default gravity input type.

Eigen::Vector3d	_initPos
	Initial position in LLA [deg, deg, m] for the calculation of the local gravity through EGM96.

double	_lapserate
	Temperature lapse rate in K / m.

double	_pressure0
	Pressure at Sea level in hPa.

double	_pressurenoise
	pressure noise in hPa

RandomNumberGenerator	_pressureRng
	Random number generator for the pressure noise.

double	_temp0
	Temperature at Sea level in deg K.

Static Private Attributes
static constexpr size_t	INPUT_PORT_INDEX_POS
	Flow.

static constexpr size_t	OUTPUT_PORT_INDEX_BAROPRESSURE
	Flow.

Friends
constexpr const char *	to_string (GravityInput value)
	Converts the enum to a string.

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

Convert RTKLib pos files into PosVel.

Definition at line 25 of file BaroSimulator.hpp.

Member Enumeration Documentation

◆ GravityInput

enum class NAV::BaroSimulator::GravityInput : uint8_t

strongprivate

Available options for gravity input.

Enumerator
Manual	Manual entry of the gravity's magnitude.
Position	Entry of the position, gravity is then deducted from EGM96.
COUNT	Number of items in the enum.

Definition at line 99 of file BaroSimulator.hpp.

Constructor & Destructor Documentation

◆ BaroSimulator() [1/3]

NAV::BaroSimulator::BaroSimulator ( )

Default constructor.

Definition at line 29 of file BaroSimulator.cpp.

◆ ~BaroSimulator()

NAV::BaroSimulator::~BaroSimulator ( )

override

Destructor.

Definition at line 45 of file BaroSimulator.cpp.

◆ BaroSimulator() [2/3]

NAV::BaroSimulator::BaroSimulator ( const BaroSimulator & )

delete

Copy constructor.

◆ BaroSimulator() [3/3]

NAV::BaroSimulator::BaroSimulator ( BaroSimulator && )

delete

Move constructor.

Member Function Documentation

◆ category()

std::string NAV::BaroSimulator::category ( )

staticnodiscard

String representation of the Class Category.

Definition at line 60 of file BaroSimulator.cpp.

◆ deinitialize()

void NAV::BaroSimulator::deinitialize ( )

overrideprivatevirtual

Deinitialize the node.

Reimplemented from NAV::Node.

Definition at line 158 of file BaroSimulator.cpp.

◆ guiConfig()

void NAV::BaroSimulator::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 65 of file BaroSimulator.cpp.

◆ initialize()

bool NAV::BaroSimulator::initialize ( )

overrideprivatevirtual

Initialize the node.

Reimplemented from NAV::Node.

Definition at line 145 of file BaroSimulator.cpp.

◆ operator=() [1/2]

BaroSimulator & NAV::BaroSimulator::operator= ( BaroSimulator && )

delete

Move assignment operator.

◆ operator=() [2/2]

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

delete

Copy assignment operator.

◆ receiveObs()

void NAV::BaroSimulator::receiveObs	(	InputPin::NodeDataQueue &	queue,
		size_t	pinIdx )

private

Converts the RtklibPosObs into PosVel.

Parameters

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

Definition at line 223 of file BaroSimulator.cpp.

◆ restore()

void NAV::BaroSimulator::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 181 of file BaroSimulator.cpp.

◆ save()

json NAV::BaroSimulator::save ( ) const

nodiscardoverridevirtual

Saves the node into a json object.

Reimplemented from NAV::Node.

Definition at line 163 of file BaroSimulator.cpp.

◆ type()

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

nodiscardoverridevirtual

String representation of the Class Type.

Implements NAV::Node.

Definition at line 55 of file BaroSimulator.cpp.

◆ typeStatic()

std::string NAV::BaroSimulator::typeStatic ( )

staticnodiscard

String representation of the Class Type.

Definition at line 50 of file BaroSimulator.cpp.

Friends And Related Symbol Documentation

◆ to_string

const char * to_string ( GravityInput value )

friend

Converts the enum to a string.

Parameters

[in] value Enum value to convert into text

Returns: String representation of the enum

Definition at line 118 of file BaroSimulator.hpp.

Field Documentation

◆ _exponent

double NAV::BaroSimulator::_exponent

private

save computations, by storing g * M / R0 / L;

Definition at line 93 of file BaroSimulator.hpp.

◆ _geoidhgt

double NAV::BaroSimulator::_geoidhgt

private

Geoid undulation in m.

Definition at line 83 of file BaroSimulator.hpp.

◆ _gravity

double NAV::BaroSimulator::_gravity

private

Gravity in m / s²

Definition at line 85 of file BaroSimulator.hpp.

◆ _gravityInput

GravityInput NAV::BaroSimulator::_gravityInput

private

Default gravity input type.

Definition at line 107 of file BaroSimulator.hpp.

◆ _initPos

Eigen::Vector3d NAV::BaroSimulator::_initPos

private

Initial position in LLA [deg, deg, m] for the calculation of the local gravity through EGM96.

Definition at line 96 of file BaroSimulator.hpp.

◆ _lapserate

double NAV::BaroSimulator::_lapserate

private

Temperature lapse rate in K / m.

Definition at line 81 of file BaroSimulator.hpp.

◆ _pressure0

double NAV::BaroSimulator::_pressure0

private

Pressure at Sea level in hPa.

Definition at line 79 of file BaroSimulator.hpp.

◆ _pressurenoise

double NAV::BaroSimulator::_pressurenoise

private

pressure noise in hPa

Definition at line 87 of file BaroSimulator.hpp.

◆ _pressureRng

RandomNumberGenerator NAV::BaroSimulator::_pressureRng

private

Random number generator for the pressure noise.

Definition at line 90 of file BaroSimulator.hpp.

◆ _temp0

double NAV::BaroSimulator::_temp0

private

Temperature at Sea level in deg K.

Definition at line 77 of file BaroSimulator.hpp.

◆ INPUT_PORT_INDEX_POS

size_t NAV::BaroSimulator::INPUT_PORT_INDEX_POS

staticconstexprprivate

Flow.

Definition at line 63 of file BaroSimulator.hpp.

◆ OUTPUT_PORT_INDEX_BAROPRESSURE

size_t NAV::BaroSimulator::OUTPUT_PORT_INDEX_BAROPRESSURE

staticconstexprprivate

Flow.

Definition at line 62 of file BaroSimulator.hpp.

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

/home/runner/work/INSTINCT/INSTINCT/src/Nodes/DataProvider/Barometer/Simulators/BaroSimulator.hpp
/home/runner/work/INSTINCT/INSTINCT/src/Nodes/DataProvider/Barometer/Simulators/BaroSimulator.cpp

Public Member Functions

Static Public Member Functions

Private Types

Private Member Functions

Private Attributes

Static Private Attributes

Friends

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ GravityInput

Constructor & Destructor Documentation

◆ BaroSimulator() [1/3]

◆ ~BaroSimulator()

◆ BaroSimulator() [2/3]

◆ BaroSimulator() [3/3]

Member Function Documentation

◆ category()

◆ deinitialize()

◆ guiConfig()

◆ initialize()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ receiveObs()

◆ restore()

◆ save()

◆ type()

◆ typeStatic()

Friends And Related Symbol Documentation

◆ to_string

Field Documentation

◆ _exponent

◆ _geoidhgt

◆ _gravity

◆ _gravityInput

◆ _initPos

◆ _lapserate

◆ _pressure0

◆ _pressurenoise

◆ _pressureRng

◆ _temp0

◆ INPUT_PORT_INDEX_POS

◆ OUTPUT_PORT_INDEX_BAROPRESSURE