Abstract IMU Class. More...

Public Member Functions
void	guiConfig () override
	ImGui config window which is shown on double click.
	Imu (const Imu &)=delete
	Copy constructor.
	Imu (Imu &&)=delete
	Move constructor.
const ImuPos &	imuPosition () const
	Position and rotation information for conversion from platform to body frame.
Imu &	operator= (const Imu &)=delete
	Copy assignment operator.
Imu &	operator= (Imu &&)=delete
	Move 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.
	~Imu () override=default
	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.
virtual void	deinitialize ()
	Deinitialize the Node.
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.
virtual bool	initialize ()
	Initialize the Node.
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.
virtual std::string	type () const =0
	String representation of the Class Type.
void	wakeWorker ()
	Wakes the worker thread.
virtual	~Node ()
	Destructor.

Protected Member Functions
	Imu (std::string name)
	Constructor.

Protected Attributes
ImuPos	_imuPos
	Position and rotation information for conversion from platform to body frame.
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.

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...
Static Public Member Functions inherited from NAV::Node
static std::string	toString (State state)
	Converts the state into a printable text.
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)

Detailed Description

Abstract IMU Class.

Definition at line 23 of file Imu.hpp.

Constructor & Destructor Documentation

◆ ~Imu()

NAV::Imu::~Imu ( )

overridedefault

Destructor.

◆ Imu() [1/3]

NAV::Imu::Imu ( const Imu & )

delete

Copy constructor.

◆ Imu() [2/3]

NAV::Imu::Imu ( Imu && )

delete

Move constructor.

◆ Imu() [3/3]

NAV::Imu::Imu ( std::string name )

explicitprotected

Constructor.

Parameters

[in] name Name of the node

Definition at line 52 of file Imu.cpp.

Member Function Documentation

◆ guiConfig()

void NAV::Imu::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.

Reimplemented in NAV::experimental::SkydelNetworkStream, NAV::ImuFile, NAV::ImuFusion, NAV::ImuSimulator, NAV::KvhFile, NAV::KvhSensor, NAV::Navio2Sensor, NAV::UlogFile, NAV::VectorNavFile, and NAV::VectorNavSensor.

Definition at line 55 of file Imu.cpp.

◆ imuPosition()

const ImuPos & NAV::Imu::imuPosition ( ) const

inlinenodiscard

Position and rotation information for conversion from platform to body frame.

Definition at line 49 of file Imu.hpp.

◆ operator=() [1/2]

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

delete

Copy assignment operator.

◆ operator=() [2/2]

Imu & NAV::Imu::operator= ( Imu && )

delete

Move assignment operator.

◆ restore()

void NAV::Imu::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.

Reimplemented in NAV::ImuFile, NAV::ImuFusion, NAV::ImuSimulator, NAV::KvhFile, NAV::KvhSensor, NAV::Navio2Sensor, NAV::UlogFile, NAV::VectorNavFile, and NAV::VectorNavSensor.

Definition at line 104 of file Imu.cpp.

◆ save()

json NAV::Imu::save ( ) const

nodiscardoverridevirtual

Saves the node into a json object.

Reimplemented from NAV::Node.

Reimplemented in NAV::ImuFile, NAV::ImuFusion, NAV::ImuSimulator, NAV::KvhFile, NAV::KvhSensor, NAV::Navio2Sensor, NAV::UlogFile, NAV::VectorNavFile, and NAV::VectorNavSensor.

Definition at line 93 of file Imu.cpp.

Field Documentation

◆ _imuPos

ImuPos NAV::Imu::_imuPos

protected

Position and rotation information for conversion from platform to body frame.

Definition at line 57 of file Imu.hpp.

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

/home/runner/work/INSTINCT/INSTINCT/src/Nodes/DataProvider/IMU/Imu.hpp
/home/runner/work/INSTINCT/INSTINCT/src/Nodes/DataProvider/IMU/Imu.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ~Imu()

◆ Imu() [1/3]

◆ Imu() [2/3]

◆ Imu() [3/3]

Member Function Documentation

◆ guiConfig()

◆ imuPosition()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ restore()

◆ save()

Field Documentation

◆ _imuPos