Calculates differences between signals. More...

Data Structures
struct	Combination
	Combination of data. More...

struct	PinData
	Pin data. More...

struct	SendRequest
	Send request information. More...

Public Member Functions
	Combiner ()
	Default constructor.

	Combiner (Combiner &&)=delete
	Move constructor.

	Combiner (const Combiner &)=delete
	Copy constructor.

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

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

Combiner &	operator= (const Combiner &)=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.

	~Combiner () 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.

Public Member Functions inherited from NAV::CommonLog
	CommonLog (CommonLog &&)=delete
	Move constructor.

	CommonLog (const CommonLog &)=delete
	Copy constructor.

void	initialize () const
	Initialize the common log variables.

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

CommonLog &	operator= (const CommonLog &)=delete
	Copy assignment operator.

virtual	~CommonLog ()
	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.

Static Public Member Functions inherited from NAV::CommonLog
static LocalPosition	calcLocalPosition (const Eigen::Vector3d &lla_position)
	Calculate the local position offset from a reference point.

static double	calcTimeIntoRun (const InsTime &insTime)
	Calculates the relative time into he run.

static void	restore (const json &j)
	Read info from a json object.

static json	save ()
	Returns a json object of the common log.

static bool	ShowOriginInput (const char *id)
	Shows a GUI to input a origin location.

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

std::vector< std::string >	getDataDescriptors (size_t pinIndex) const
	Returns a list of descriptors for the pin.

bool	initialize () override
	Initialize the node.

void	receiveData (InputPin::NodeDataQueue &queue, size_t pinIdx)
	Receive Data Function.

Static Private Member Functions
static void	pinAddCallback (Node *node)
	Function to call to add a new pin.

static void	pinDeleteCallback (Node *node, size_t pinIdx)
	Function to call to delete a pin.

Private Attributes
std::vector< Combination >	_combinations
	Combinations to calculate.

gui::widgets::DynamicInputPins	_dynamicInputPins
	Dynamic input pins.

double	_maxTimeDiffMultiplierFrequency
	Multiply frequency with this to get maximum allowed time difference to interpolate to.

double	_maxTimeStepMultiplierFrequency
	Multiply frequency with this to get maximum allowed time step of incoming observations.

bool	_noOutputIfTimeDiffLarge
	Wether to not output a term if the interpolation time point is too far away.

bool	_noOutputIfTimeStepLarge
	Wether to not output a term if the time step to interpolate in between is large.

bool	_outputMissingAsNaN
	Output missing combinations with NaN instead of removing.

std::vector< PinData >	_pinData
	Data per pin.

size_t	_refPinIdx
	Reference pin.

std::map< InsTime, std::vector< SendRequest > >	_sendRequests
	Chronological list of send request.

Static Private Attributes
static std::vector< std::string >	_dataIdentifier
	Possible data identifiers to connect.

static constexpr size_t	OUTPUT_PORT_INDEX_DYN_DATA
	Flow (DynamicData)

Friends
void	from_json (const json &j, Combination::Term &data)
	Read info from a json object.

void	from_json (const json &j, Combiner::Combination &data)
	Read info from a json object.

void	to_json (json &j, const Combination &data)
	Write info to a json object.

void	to_json (json &j, const Combination::Term &data)
	Write info to a json object.

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 Member Functions inherited from NAV::CommonLog
	CommonLog ()
	Default constructor.

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.

Static Protected Attributes inherited from NAV::CommonLog
static std::optional< gui::widgets::PositionWithFrame >	_originPosition
	Origin for calculation of relative position.

static InsTime	_startTime
	Start Time for calculation of relative time.

static bool	_useGuiInputs
	Use GUI inputs.

Detailed Description

Calculates differences between signals.

Definition at line 48 of file Combiner.hpp.

Constructor & Destructor Documentation

◆ Combiner() [1/3]

NAV::Combiner::Combiner ( )

Default constructor.

Definition at line 79 of file Combiner.cpp.

◆ ~Combiner()

NAV::Combiner::~Combiner ( )

override

Destructor.

Definition at line 92 of file Combiner.cpp.

◆ Combiner() [2/3]

NAV::Combiner::Combiner ( const Combiner & )

delete

Copy constructor.

◆ Combiner() [3/3]

NAV::Combiner::Combiner ( Combiner && )

delete

Move constructor.

Member Function Documentation

◆ category()

std::string NAV::Combiner::category ( )

staticnodiscard

String representation of the Class Category.

Definition at line 107 of file Combiner.cpp.

◆ deinitialize()

void NAV::Combiner::deinitialize ( )

overrideprivatevirtual

Deinitialize the node.

Reimplemented from NAV::Node.

Definition at line 485 of file Combiner.cpp.

◆ getDataDescriptors()

std::vector< std::string > NAV::Combiner::getDataDescriptors ( size_t pinIndex ) const

nodiscardprivate

Returns a list of descriptors for the pin.

Parameters

pinIndex Pin Index to look for the descriptor

Definition at line 490 of file Combiner.cpp.

◆ guiConfig()

void NAV::Combiner::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 112 of file Combiner.cpp.

◆ initialize()

bool NAV::Combiner::initialize ( )

overrideprivatevirtual

Initialize the node.

Reimplemented from NAV::Node.

Definition at line 459 of file Combiner.cpp.

◆ operator=() [1/2]

Combiner & NAV::Combiner::operator= ( Combiner && )

delete

Move assignment operator.

◆ operator=() [2/2]

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

delete

Copy assignment operator.

◆ pinAddCallback()

void NAV::Combiner::pinAddCallback ( Node * node )

staticprivate

Function to call to add a new pin.

Parameters

[in,out] node Pointer to this node

Definition at line 427 of file Combiner.cpp.

◆ pinDeleteCallback()

void NAV::Combiner::pinDeleteCallback	(	Node *	node,
		size_t	pinIdx )

staticprivate

Function to call to delete a pin.

Parameters

[in,out]	node	Pointer to this node
[in]	pinIdx	Input pin index to delete

Definition at line 434 of file Combiner.cpp.

◆ receiveData()

void NAV::Combiner::receiveData	(	InputPin::NodeDataQueue &	queue,
		size_t	pinIdx )

private

Receive Data Function.

Parameters

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

Definition at line 505 of file Combiner.cpp.

◆ restore()

void NAV::Combiner::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 413 of file Combiner.cpp.

◆ save()

json NAV::Combiner::save ( ) const

nodiscardoverridevirtual

Saves the node into a json object.

Reimplemented from NAV::Node.

Definition at line 397 of file Combiner.cpp.

◆ type()

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

nodiscardoverridevirtual

String representation of the Class Type.

Implements NAV::Node.

Definition at line 102 of file Combiner.cpp.

◆ typeStatic()

std::string NAV::Combiner::typeStatic ( )

staticnodiscard

String representation of the Class Type.

Definition at line 97 of file Combiner.cpp.

Friends And Related Symbol Documentation

◆ from_json [1/2]

void from_json	(	const json &	j,
		Combination::Term &	data )

friend

Read info from a json object.

Parameters

[in]	j	Json variable to read info from
[out]	data	Output object

Definition at line 55 of file Combiner.cpp.

◆ from_json [2/2]

void from_json	(	const json &	j,
		Combiner::Combination &	data )

friend

Read info from a json object.

Parameters

[in]	j	Json variable to read info from
[out]	data	Output object

Definition at line 74 of file Combiner.cpp.

◆ to_json [1/2]

void to_json	(	json &	j,
		const Combination &	data )

friend

Write info to a json object.

Parameters

[out]	j	Json output
[in]	data	Object to read info from

Definition at line 65 of file Combiner.cpp.

◆ to_json [2/2]

void to_json	(	json &	j,
		const Combination::Term &	data )

friend

Write info to a json object.

Parameters

[out]	j	Json output
[in]	data	Object to read info from

Definition at line 44 of file Combiner.cpp.

Field Documentation

◆ _combinations

std::vector<Combination> NAV::Combiner::_combinations

private

Combinations to calculate.

Definition at line 168 of file Combiner.hpp.

◆ _dataIdentifier

std::vector<std::string> NAV::Combiner::_dataIdentifier

inlinestaticprivate

Possible data identifiers to connect.

Definition at line 88 of file Combiner.hpp.

◆ _dynamicInputPins

gui::widgets::DynamicInputPins NAV::Combiner::_dynamicInputPins

private

Dynamic input pins.

Attention: This should always be the last variable in the header, because it accesses others through the function callbacks

Definition at line 219 of file Combiner.hpp.

◆ _maxTimeDiffMultiplierFrequency

double NAV::Combiner::_maxTimeDiffMultiplierFrequency

private

Multiply frequency with this to get maximum allowed time difference to interpolate to.

Definition at line 191 of file Combiner.hpp.

◆ _maxTimeStepMultiplierFrequency

double NAV::Combiner::_maxTimeStepMultiplierFrequency

private

Multiply frequency with this to get maximum allowed time step of incoming observations.

Definition at line 194 of file Combiner.hpp.

◆ _noOutputIfTimeDiffLarge

bool NAV::Combiner::_noOutputIfTimeDiffLarge

private

Wether to not output a term if the interpolation time point is too far away.

Definition at line 190 of file Combiner.hpp.

◆ _noOutputIfTimeStepLarge

bool NAV::Combiner::_noOutputIfTimeStepLarge

private

Wether to not output a term if the time step to interpolate in between is large.

Definition at line 193 of file Combiner.hpp.

◆ _outputMissingAsNaN

bool NAV::Combiner::_outputMissingAsNaN

private

Output missing combinations with NaN instead of removing.

Definition at line 188 of file Combiner.hpp.

◆ _pinData

std::vector<PinData> NAV::Combiner::_pinData

private

Data per pin.

Definition at line 182 of file Combiner.hpp.

◆ _refPinIdx

size_t NAV::Combiner::_refPinIdx

private

Reference pin.

Definition at line 185 of file Combiner.hpp.

◆ _sendRequests

std::map<InsTime, std::vector<SendRequest> > NAV::Combiner::_sendRequests

private

Chronological list of send request.

Definition at line 207 of file Combiner.hpp.

◆ OUTPUT_PORT_INDEX_DYN_DATA

size_t NAV::Combiner::OUTPUT_PORT_INDEX_DYN_DATA

staticconstexprprivate

Flow (DynamicData)

Definition at line 85 of file Combiner.hpp.

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

/home/runner/work/INSTINCT/INSTINCT/src/Nodes/Utility/Combiner.hpp
/home/runner/work/INSTINCT/INSTINCT/src/Nodes/Utility/Combiner.cpp

Data Structures

Public Member Functions

Static Public Member Functions

Private Member Functions

Static Private Member Functions

Private Attributes

Static Private Attributes

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Combiner() [1/3]

◆ ~Combiner()

◆ Combiner() [2/3]

◆ Combiner() [3/3]

Member Function Documentation

◆ category()

◆ deinitialize()

◆ getDataDescriptors()

◆ guiConfig()

◆ initialize()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ pinAddCallback()

◆ pinDeleteCallback()

◆ receiveData()

◆ restore()

◆ save()

◆ type()

◆ typeStatic()

Friends And Related Symbol Documentation

◆ from_json [1/2]

◆ from_json [2/2]

◆ to_json [1/2]

◆ to_json [2/2]

Field Documentation

◆ _combinations

◆ _dataIdentifier

◆ _dynamicInputPins

◆ _maxTimeDiffMultiplierFrequency

◆ _maxTimeStepMultiplierFrequency

◆ _noOutputIfTimeDiffLarge

◆ _noOutputIfTimeStepLarge

◆ _outputMissingAsNaN

◆ _pinData

◆ _refPinIdx

◆ _sendRequests

◆ OUTPUT_PORT_INDEX_DYN_DATA