Combines signals of sensors that provide the same signal-type to one signal. More...

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

	ImuFusion ()
	Default constructor.

	ImuFusion (const ImuFusion &)=delete
	Copy constructor.

	ImuFusion (ImuFusion &&)=delete
	Move constructor.

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

ImuFusion &	operator= (ImuFusion &&)=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.

std::string	type () const override
	String representation of the Class Type.

	~ImuFusion () override
	Destructor.

Public Member Functions inherited from NAV::Imu
	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.

	~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.

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.

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

Protected Attributes inherited from NAV::Imu
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.

Private Types
enum class	ImuFusionType : uint8_t { IRWKF , Bspline , COUNT }
	Possible KF-types for the IMU fusion. More...

Private Member Functions
void	combineSignals (const std::shared_ptr< const ImuObs > &imuObs)
	Combines the signals.

void	deinitialize () override
	Deinitialize the node.

bool	initialize () override
	Initialize the node.

void	initializeMountingAngles ()
	Initializes the rotation matrices used for the mounting angles of the sensors.

void	measurementNoiseMatrix_R (Eigen::MatrixXd &R, size_t pinIndex=0) const
	Calculates the initial measurement noise matrix R.

void	recvSignal (InputPin::NodeDataQueue &queue, size_t pinIdx)
	Receive Function for the signal at the time tₖ

void	updateNumberOfInputPins ()
	Adds/Deletes Input Pins depending on the variable _nInputPins.

Static Private Member Functions
static Eigen::MatrixXd	measurementNoiseMatrix_R_adaptive (double alpha, const Eigen::MatrixXd &R, const Eigen::VectorXd &e, const Eigen::MatrixXd &H, const Eigen::MatrixXd &P)
	Calculates the adaptive measurement noise matrix R.

Private Attributes
bool	_autoInitKF
	Auto-initialize the Kalman Filter - GUI setting.

double	_averageEndTime
	Time until averaging ends and filtering starts in [s].

InsTime	_avgEndTime
	Time until averaging ends and filtering starts as 'InsTime'.

std::vector< Eigen::Vector3d >	_biasCovariances
	Container for the bias covariances.

bool	_checkKalmanMatricesRanks
	Check the rank of the Kalman matrices every iteration (computationally expensive)

std::vector< std::shared_ptr< const NAV::ImuObs > >	_cumulatedImuObs
	Container that collects all imuObs for averaging for auto-init of the KF.

std::vector< size_t >	_cumulatedPinIds
	Container that collects all pinIds for averaging for auto-init of the KF.

InsTime	_firstTimestamp
	Saves the first timestamp in [s].

bool	_imuBiasesIdentical
	If the multiple IMUs have the same bias, GUI input cells can be reduced considerably.

bool	_imuCharacteristicsIdentical
	If the multiple IMUs have the same characteristics, GUI input cells can be reduced considerably.

double	_imuFrequency
	Highest IMU sample rate in [Hz] (for time step in KF prediction)

ImuFusionType	_imuFusionType
	KF-type for the IMU fusion, selected in the GUI.

bool	_imuPosSet
	Check whether the combined solution has an '_imuPos' set.

std::vector< Eigen::Matrix3d >	_imuRotations_accel
	Rotations of all connected accelerometers - key: pinIndex, value: Rotation matrix of the accelerometer platform to body frame.

std::vector< Eigen::Matrix3d >	_imuRotations_gyro
	Rotations of all connected gyros - key: pinIndex, value: Rotation matrix of the gyro platform to body frame.

Eigen::Vector3d	_initCoeffsAccelTemp
	Temporary vector for the initial coefficients for acceleration.

Eigen::Vector3d	_initCoeffsAngRateTemp
	Temporary vector for the initial coefficients for angular rate.

Eigen::Vector3d	_initCovarianceCoeffsAccelTemp
	Temporary vector for the initial coefficients' initial covariance for the acceleration.

Eigen::Vector3d	_initCovarianceCoeffsAngRateTemp
	Temporary vector for the initial coefficients' initial covariance for the angular rate.

bool	_initJerkAngAcc
	flag to determine how jerk and angular acceleration states are initialized if '_autoInitKF = true'

KalmanFilter	_kalmanFilter
	Kalman Filter representation.

bool	_kfInitialized
	flag to check whether KF has been auto-initialized

InsTime	_lastFiltObs
	Previous observation (for timestamp)

double	_latestKnot
	Latest knot in [s].

InsTime	_latestTimestamp
	Saves the timestamp of the measurement before in [s].

std::vector< Eigen::Vector3d >	_measurementNoiseVariances
	Container for measurement noises of each sensor.

size_t	_nInputPins
	Number of input pins.

const uint8_t	_numBsplines
	Number of quadratic B-splines that make up the entire 3D stacked B-spline.

const uint8_t	_numMeasurements
	Number of measurements overall.

uint8_t	_numStates
	Number of states overall.

uint8_t	_numStatesEst
	Number of estimated states (depends on imuFusionType)

const uint8_t	_numStatesEstBsplineKF
	Number of states estimated by the B-spline KF (3 stacked B-splines in 3D for angular rate and specific force: 332 = 18)

const uint8_t	_numStatesEstIRWKF
	Number of states estimated by the IRW-KF (angular rate, angular acceleration, specific force, jerk, all in 3D: 4*3 = 12)

const uint8_t	_numStatesPerPin
	Number of states per pin (biases of accel and gyro)

std::vector< PinData >	_pinData
	Stores parameter data for each connected sensor.

PinDataBsplineKF	_pinDataBsplineKF
	Stores Bspline-KF specific parameter data.

PinDataIRWKF	_pinDataIRWKF
	Stores IRW-KF specific parameter data.

std::vector< Eigen::VectorXd >	_processNoiseVariances
	Container for process noise of each state.

Eigen::Vector3d	_procNoiseCoeffsAccelTemp
	Temporary vector for the initial coefficients' process noise for the acceleration.

Eigen::Vector3d	_procNoiseCoeffsAngRateTemp
	Temporary vector for the initial coefficients' process noise for the angular rate.

double	_splineSpacing
	Time difference between two quadratic B-splines in the stacked B-spline.

double	_timeSinceStartup
	Time since startup in [s].

Static Private Attributes
static constexpr size_t	OUTPUT_PORT_INDEX_BIASES
	Flow (ImuBiases)

static constexpr size_t	OUTPUT_PORT_INDEX_COMBINED_SIGNAL
	Flow (ImuObs)

Friends
constexpr const char *	to_string (ImuFusionType 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 Member Functions inherited from NAV::Imu
	Imu (std::string name)
	Constructor.

Detailed Description

Combines signals of sensors that provide the same signal-type to one signal.

Definition at line 28 of file ImuFusion.hpp.

Member Enumeration Documentation

◆ ImuFusionType

enum class NAV::ImuFusion::ImuFusionType : uint8_t

strongprivate

Possible KF-types for the IMU fusion.

Enumerator
IRWKF	IRW Kalman filter.
Bspline	B-spline Kalman filter.
COUNT	Number of items in the enum.

Definition at line 232 of file ImuFusion.hpp.

Constructor & Destructor Documentation

◆ ImuFusion() [1/3]

NAV::ImuFusion::ImuFusion ( )

Default constructor.

Definition at line 342 of file ImuFusion.cpp.

◆ ~ImuFusion()

NAV::ImuFusion::~ImuFusion ( )

override

Destructor.

Definition at line 354 of file ImuFusion.cpp.

◆ ImuFusion() [2/3]

NAV::ImuFusion::ImuFusion ( const ImuFusion & )

delete

Copy constructor.

◆ ImuFusion() [3/3]

NAV::ImuFusion::ImuFusion ( ImuFusion && )

delete

Move constructor.

Member Function Documentation

◆ category()

std::string NAV::ImuFusion::category ( )

staticnodiscard

String representation of the Class Category.

Definition at line 369 of file ImuFusion.cpp.

◆ combineSignals()

void NAV::ImuFusion::combineSignals ( const std::shared_ptr< const ImuObs > & imuObs )

private

Combines the signals.

Parameters

[in] imuObs Imu observation

Definition at line 1478 of file ImuFusion.cpp.

◆ deinitialize()

void NAV::ImuFusion::deinitialize ( )

overrideprivatevirtual

Deinitialize the node.

Reimplemented from NAV::Node.

Definition at line 1305 of file ImuFusion.cpp.

◆ guiConfig()

void NAV::ImuFusion::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::Imu.

Definition at line 374 of file ImuFusion.cpp.

◆ initialize()

bool NAV::ImuFusion::initialize ( )

overrideprivatevirtual

Initialize the node.

Reimplemented from NAV::Node.

Definition at line 1195 of file ImuFusion.cpp.

◆ initializeMountingAngles()

void NAV::ImuFusion::initializeMountingAngles ( )

private

Initializes the rotation matrices used for the mounting angles of the sensors.

Definition at line 1332 of file ImuFusion.cpp.

◆ measurementNoiseMatrix_R()

void NAV::ImuFusion::measurementNoiseMatrix_R	(	Eigen::MatrixXd &	R,
		size_t	pinIndex = 0 ) const

private

Calculates the initial measurement noise matrix R.

Parameters

[in]	R	Measurement noise uncertainty matrix for sensor at 'pinIndex'
[in]	pinIndex	Index of pin to identify sensor

Definition at line 1585 of file ImuFusion.cpp.

◆ measurementNoiseMatrix_R_adaptive()

Eigen::MatrixXd NAV::ImuFusion::measurementNoiseMatrix_R_adaptive	(	double	alpha,
		const Eigen::MatrixXd &	R,
		const Eigen::VectorXd &	e,
		const Eigen::MatrixXd &	H,
		const Eigen::MatrixXd &	P )

staticnodiscardprivate

Calculates the adaptive measurement noise matrix R.

Parameters

[in]	alpha	Forgetting factor (i.e. weight on previous estimates), 0 < alpha < 1
[in]	R	Measurement noise covariance matrix at the previous epoch
[in]	e	Vector of residuals
[in]	H	Design matrix
[in]	P	Error covariance matrix

Returns: Measurement noise matrix R

Note: See https://arxiv.org/pdf/1702.00884.pdf

Definition at line 1580 of file ImuFusion.cpp.

◆ operator=() [1/2]

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

delete

Copy assignment operator.

◆ operator=() [2/2]

ImuFusion & NAV::ImuFusion::operator= ( ImuFusion && )

delete

Move assignment operator.

◆ recvSignal()

void NAV::ImuFusion::recvSignal	(	InputPin::NodeDataQueue &	queue,
		size_t	pinIdx )

private

Receive Function for the signal at the time tₖ

Parameters

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

Definition at line 1347 of file ImuFusion.cpp.

◆ restore()

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

overridevirtual

Restores the node from a json object.

Parameters

[in] j Json object with the node state

Reimplemented from NAV::Imu.

Definition at line 1112 of file ImuFusion.cpp.

◆ save()

json NAV::ImuFusion::save ( ) const

nodiscardoverridevirtual

Saves the node into a json object.

Reimplemented from NAV::Imu.

Definition at line 1083 of file ImuFusion.cpp.

◆ type()

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

nodiscardoverridevirtual

String representation of the Class Type.

Implements NAV::Node.

Definition at line 364 of file ImuFusion.cpp.

◆ typeStatic()

std::string NAV::ImuFusion::typeStatic ( )

staticnodiscard

String representation of the Class Type.

Definition at line 359 of file ImuFusion.cpp.

◆ updateNumberOfInputPins()

void NAV::ImuFusion::updateNumberOfInputPins ( )

private

Adds/Deletes Input Pins depending on the variable _nInputPins.

Definition at line 1310 of file ImuFusion.cpp.

Friends And Related Symbol Documentation

◆ to_string

const char * to_string ( ImuFusionType 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 247 of file ImuFusion.hpp.

Field Documentation

◆ _autoInitKF

bool NAV::ImuFusion::_autoInitKF

private

Auto-initialize the Kalman Filter - GUI setting.

Definition at line 154 of file ImuFusion.hpp.

◆ _averageEndTime

double NAV::ImuFusion::_averageEndTime

private

Time until averaging ends and filtering starts in [s].

Definition at line 148 of file ImuFusion.hpp.

◆ _avgEndTime

InsTime NAV::ImuFusion::_avgEndTime

private

Time until averaging ends and filtering starts as 'InsTime'.

Definition at line 151 of file ImuFusion.hpp.

◆ _biasCovariances

std::vector<Eigen::Vector3d> NAV::ImuFusion::_biasCovariances

private

Container for the bias covariances.

Definition at line 196 of file ImuFusion.hpp.

◆ _checkKalmanMatricesRanks

bool NAV::ImuFusion::_checkKalmanMatricesRanks

private

Check the rank of the Kalman matrices every iteration (computationally expensive)

Definition at line 226 of file ImuFusion.hpp.

◆ _cumulatedImuObs

std::vector<std::shared_ptr<const NAV::ImuObs> > NAV::ImuFusion::_cumulatedImuObs

private

Container that collects all imuObs for averaging for auto-init of the KF.

Definition at line 163 of file ImuFusion.hpp.

◆ _cumulatedPinIds

std::vector<size_t> NAV::ImuFusion::_cumulatedPinIds

private

Container that collects all pinIds for averaging for auto-init of the KF.

Definition at line 166 of file ImuFusion.hpp.

◆ _firstTimestamp

InsTime NAV::ImuFusion::_firstTimestamp

private

Saves the first timestamp in [s].

Definition at line 213 of file ImuFusion.hpp.

◆ _imuBiasesIdentical

bool NAV::ImuFusion::_imuBiasesIdentical

private

If the multiple IMUs have the same bias, GUI input cells can be reduced considerably.

Definition at line 160 of file ImuFusion.hpp.

◆ _imuCharacteristicsIdentical

bool NAV::ImuFusion::_imuCharacteristicsIdentical

private

If the multiple IMUs have the same characteristics, GUI input cells can be reduced considerably.

Definition at line 157 of file ImuFusion.hpp.

◆ _imuFrequency

double NAV::ImuFusion::_imuFrequency

private

Highest IMU sample rate in [Hz] (for time step in KF prediction)

Definition at line 145 of file ImuFusion.hpp.

◆ _imuFusionType

ImuFusionType NAV::ImuFusion::_imuFusionType

private

KF-type for the IMU fusion, selected in the GUI.

Definition at line 244 of file ImuFusion.hpp.

◆ _imuPos

ImuPos NAV::ImuFusion::_imuPos

protected

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

Definition at line 66 of file ImuFusion.hpp.

◆ _imuPosSet

bool NAV::ImuFusion::_imuPosSet

private

Check whether the combined solution has an '_imuPos' set.

Definition at line 229 of file ImuFusion.hpp.

◆ _imuRotations_accel

std::vector<Eigen::Matrix3d> NAV::ImuFusion::_imuRotations_accel

private

Rotations of all connected accelerometers - key: pinIndex, value: Rotation matrix of the accelerometer platform to body frame.

Definition at line 203 of file ImuFusion.hpp.

◆ _imuRotations_gyro

std::vector<Eigen::Matrix3d> NAV::ImuFusion::_imuRotations_gyro

private

Rotations of all connected gyros - key: pinIndex, value: Rotation matrix of the gyro platform to body frame.

Definition at line 206 of file ImuFusion.hpp.

◆ _initCoeffsAccelTemp

Eigen::Vector3d NAV::ImuFusion::_initCoeffsAccelTemp

private

Temporary vector for the initial coefficients for acceleration.

Definition at line 185 of file ImuFusion.hpp.

◆ _initCoeffsAngRateTemp

Eigen::Vector3d NAV::ImuFusion::_initCoeffsAngRateTemp

private

Temporary vector for the initial coefficients for angular rate.

Definition at line 183 of file ImuFusion.hpp.

◆ _initCovarianceCoeffsAccelTemp

Eigen::Vector3d NAV::ImuFusion::_initCovarianceCoeffsAccelTemp

private

Temporary vector for the initial coefficients' initial covariance for the acceleration.

Definition at line 189 of file ImuFusion.hpp.

◆ _initCovarianceCoeffsAngRateTemp

Eigen::Vector3d NAV::ImuFusion::_initCovarianceCoeffsAngRateTemp

private

Temporary vector for the initial coefficients' initial covariance for the angular rate.

Definition at line 187 of file ImuFusion.hpp.

◆ _initJerkAngAcc

bool NAV::ImuFusion::_initJerkAngAcc

private

flag to determine how jerk and angular acceleration states are initialized if '_autoInitKF = true'

Definition at line 169 of file ImuFusion.hpp.

◆ _kalmanFilter

KalmanFilter NAV::ImuFusion::_kalmanFilter

private

Kalman Filter representation.

Definition at line 141 of file ImuFusion.hpp.

◆ _kfInitialized

bool NAV::ImuFusion::_kfInitialized

private

flag to check whether KF has been auto-initialized

Definition at line 172 of file ImuFusion.hpp.

◆ _lastFiltObs

InsTime NAV::ImuFusion::_lastFiltObs

private

Previous observation (for timestamp)

Definition at line 104 of file ImuFusion.hpp.

◆ _latestKnot

double NAV::ImuFusion::_latestKnot

private

Latest knot in [s].

Definition at line 219 of file ImuFusion.hpp.

◆ _latestTimestamp

InsTime NAV::ImuFusion::_latestTimestamp

private

Saves the timestamp of the measurement before in [s].

Definition at line 210 of file ImuFusion.hpp.

◆ _measurementNoiseVariances

std::vector<Eigen::Vector3d> NAV::ImuFusion::_measurementNoiseVariances

private

Container for measurement noises of each sensor.

Definition at line 200 of file ImuFusion.hpp.

◆ _nInputPins

size_t NAV::ImuFusion::_nInputPins

private

Number of input pins.

Definition at line 117 of file ImuFusion.hpp.

◆ _numBsplines

const uint8_t NAV::ImuFusion::_numBsplines

private

Number of quadratic B-splines that make up the entire 3D stacked B-spline.

Definition at line 126 of file ImuFusion.hpp.

◆ _numMeasurements

const uint8_t NAV::ImuFusion::_numMeasurements

private

Number of measurements overall.

Definition at line 132 of file ImuFusion.hpp.

◆ _numStates

uint8_t NAV::ImuFusion::_numStates

private

Number of states overall.

Definition at line 138 of file ImuFusion.hpp.

◆ _numStatesEst

uint8_t NAV::ImuFusion::_numStatesEst

private

Number of estimated states (depends on imuFusionType)

Definition at line 135 of file ImuFusion.hpp.

◆ _numStatesEstBsplineKF

const uint8_t NAV::ImuFusion::_numStatesEstBsplineKF

private

Number of states estimated by the B-spline KF (3 stacked B-splines in 3D for angular rate and specific force: 3*3*2 = 18)

Definition at line 123 of file ImuFusion.hpp.

◆ _numStatesEstIRWKF

const uint8_t NAV::ImuFusion::_numStatesEstIRWKF

private

Number of states estimated by the IRW-KF (angular rate, angular acceleration, specific force, jerk, all in 3D: 4*3 = 12)

Definition at line 120 of file ImuFusion.hpp.

◆ _numStatesPerPin

const uint8_t NAV::ImuFusion::_numStatesPerPin

private

Number of states per pin (biases of accel and gyro)

Definition at line 129 of file ImuFusion.hpp.

◆ _pinData

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

private

Stores parameter data for each connected sensor.

Definition at line 176 of file ImuFusion.hpp.

◆ _pinDataBsplineKF

PinDataBsplineKF NAV::ImuFusion::_pinDataBsplineKF

private

Stores Bspline-KF specific parameter data.

Definition at line 180 of file ImuFusion.hpp.

◆ _pinDataIRWKF

PinDataIRWKF NAV::ImuFusion::_pinDataIRWKF

private

Stores IRW-KF specific parameter data.

Definition at line 178 of file ImuFusion.hpp.

◆ _processNoiseVariances

std::vector<Eigen::VectorXd> NAV::ImuFusion::_processNoiseVariances

private

Container for process noise of each state.

Definition at line 198 of file ImuFusion.hpp.

◆ _procNoiseCoeffsAccelTemp

Eigen::Vector3d NAV::ImuFusion::_procNoiseCoeffsAccelTemp

private

Temporary vector for the initial coefficients' process noise for the acceleration.

Definition at line 193 of file ImuFusion.hpp.

◆ _procNoiseCoeffsAngRateTemp

Eigen::Vector3d NAV::ImuFusion::_procNoiseCoeffsAngRateTemp

private

Temporary vector for the initial coefficients' process noise for the angular rate.

Definition at line 191 of file ImuFusion.hpp.

◆ _splineSpacing

double NAV::ImuFusion::_splineSpacing

private

Time difference between two quadratic B-splines in the stacked B-spline.

Definition at line 222 of file ImuFusion.hpp.

◆ _timeSinceStartup

double NAV::ImuFusion::_timeSinceStartup

private

Time since startup in [s].

Definition at line 216 of file ImuFusion.hpp.

◆ OUTPUT_PORT_INDEX_BIASES

size_t NAV::ImuFusion::OUTPUT_PORT_INDEX_BIASES

staticconstexprprivate

Flow (ImuBiases)

Definition at line 70 of file ImuFusion.hpp.

◆ OUTPUT_PORT_INDEX_COMBINED_SIGNAL

size_t NAV::ImuFusion::OUTPUT_PORT_INDEX_COMBINED_SIGNAL

staticconstexprprivate

Flow (ImuObs)

Definition at line 69 of file ImuFusion.hpp.

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

/home/runner/work/INSTINCT/INSTINCT/src/Nodes/DataProcessor/SensorCombiner/ImuFusion.hpp
/home/runner/work/INSTINCT/INSTINCT/src/Nodes/DataProcessor/SensorCombiner/ImuFusion.cpp

Public Member Functions

Static Public Member Functions

Protected Attributes

Private Types

Private Member Functions

Static Private Member Functions

Private Attributes

Static Private Attributes

Friends

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ ImuFusionType

Constructor & Destructor Documentation

◆ ImuFusion() [1/3]

◆ ~ImuFusion()

◆ ImuFusion() [2/3]

◆ ImuFusion() [3/3]

Member Function Documentation

◆ category()

◆ combineSignals()

◆ deinitialize()

◆ guiConfig()

◆ initialize()

◆ initializeMountingAngles()

◆ measurementNoiseMatrix_R()

◆ measurementNoiseMatrix_R_adaptive()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ recvSignal()

◆ restore()

◆ save()

◆ type()

◆ typeStatic()

◆ updateNumberOfInputPins()

Friends And Related Symbol Documentation

◆ to_string

Field Documentation

◆ _autoInitKF

◆ _averageEndTime

◆ _avgEndTime

◆ _biasCovariances

◆ _checkKalmanMatricesRanks

◆ _cumulatedImuObs

◆ _cumulatedPinIds

◆ _firstTimestamp

◆ _imuBiasesIdentical

◆ _imuCharacteristicsIdentical

◆ _imuFrequency

◆ _imuFusionType

◆ _imuPos

◆ _imuPosSet

◆ _imuRotations_accel

◆ _imuRotations_gyro

◆ _initCoeffsAccelTemp

◆ _initCoeffsAngRateTemp

◆ _initCovarianceCoeffsAccelTemp

◆ _initCovarianceCoeffsAngRateTemp

◆ _initJerkAngAcc

◆ _kalmanFilter

◆ _kfInitialized

◆ _lastFiltObs

◆ _latestKnot

◆ _latestTimestamp

◆ _measurementNoiseVariances

◆ _nInputPins

◆ _numBsplines

◆ _numMeasurements

◆ _numStates

◆ _numStatesEst

◆ _numStatesEstBsplineKF

◆ _numStatesEstIRWKF

◆ _numStatesPerPin

◆ _pinData

◆ _pinDataBsplineKF

◆ _pinDataIRWKF

◆ _processNoiseVariances

◆ _procNoiseCoeffsAccelTemp

◆ _procNoiseCoeffsAngRateTemp

◆ _splineSpacing