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| void | guiConfig () override |
| | ImGui config window which is shown on double click.
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| ImuFusion () |
| | Default constructor.
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| ImuFusion (const ImuFusion &)=delete |
| | Copy constructor.
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| ImuFusion (ImuFusion &&)=delete |
| | Move constructor.
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ImuFusion & | operator= (const ImuFusion &)=delete |
| | Copy assignment operator.
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ImuFusion & | operator= (ImuFusion &&)=delete |
| | Move assignment operator.
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| void | restore (const json &j) override |
| | Restores the node from a json object.
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| json | save () const override |
| | Saves the node into a json object.
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| std::string | type () const override |
| | String representation of the Class Type.
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| ~ImuFusion () override |
| | Destructor.
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| Imu (const Imu &)=delete |
| | Copy constructor.
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| Imu (Imu &&)=delete |
| | Move constructor.
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const ImuPos & | imuPosition () const |
| | Position and rotation information for conversion from platform to body frame.
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Imu & | operator= (const Imu &)=delete |
| | Copy assignment operator.
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Imu & | operator= (Imu &&)=delete |
| | Move assignment operator.
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| ~Imu () override=default |
| | Destructor.
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| virtual void | afterCreateLink (OutputPin &startPin, InputPin &endPin) |
| | Called when a new link was established.
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| virtual void | afterDeleteLink (OutputPin &startPin, InputPin &endPin) |
| | Called when a link was deleted.
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| bool | doDeinitialize (bool wait=false) |
| | Asks the node worker to deinitialize the node.
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| bool | doDisable (bool wait=false) |
| | Asks the node worker to disable the node.
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| bool | doEnable () |
| | Enable the node.
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| bool | doInitialize (bool wait=false) |
| | Asks the node worker to initialize the node.
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| bool | doReinitialize (bool wait=false) |
| | Asks the node worker to reinitialize the node.
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| virtual void | flush () |
| | Function called by the flow executer after finishing to flush out remaining data.
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| 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.
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Mode | getMode () const |
| | Get the current mode of the node.
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const ImVec2 & | getSize () const |
| | Get the size of the node.
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State | getState () const |
| | Get the current state of the node.
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| InputPin & | inputPinFromId (ax::NodeEditor::PinId pinId) |
| | Returns the pin with the given id.
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| size_t | inputPinIndexFromId (ax::NodeEditor::PinId pinId) const |
| | Returns the index of the pin.
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| void | invokeCallbacks (size_t portIndex, const std::shared_ptr< const NodeData > &data) |
| | Calls all registered callbacks on the specified output port.
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bool | isDisabled () const |
| | Checks if the node is disabled.
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bool | isInitialized () const |
| | Checks if the node is initialized.
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bool | isOnlyRealtime () const |
| | Checks if the node is only working in real time (sensors, network interfaces, ...)
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bool | isTransient () const |
| | Checks if the node is changing its state currently.
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std::string | nameId () const |
| | Node name and id.
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| Node (const Node &)=delete |
| | Copy constructor.
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| Node (Node &&)=delete |
| | Move constructor.
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| | Node (std::string name) |
| | Constructor.
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| void | notifyOutputValueChanged (size_t pinIdx, const InsTime &insTime, const std::scoped_lock< std::mutex > &guard) |
| | Notifies connected nodes about the change.
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| virtual bool | onCreateLink (OutputPin &startPin, InputPin &endPin) |
| | Called when a new link is to be established.
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| virtual void | onDeleteLink (OutputPin &startPin, InputPin &endPin) |
| | Called when a link is to be deleted.
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Node & | operator= (const Node &)=delete |
| | Copy assignment operator.
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Node & | operator= (Node &&)=delete |
| | Move assignment operator.
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| OutputPin & | outputPinFromId (ax::NodeEditor::PinId pinId) |
| | Returns the pin with the given id.
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| size_t | outputPinIndexFromId (ax::NodeEditor::PinId pinId) const |
| | Returns the index of the pin.
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| 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.
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| std::scoped_lock< std::mutex > | requestOutputValueLock (size_t pinIdx) |
| | Blocks the thread till the output values was read by all connected nodes.
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| virtual bool | resetNode () |
| | Resets the node. It is guaranteed that the node is initialized when this is called.
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| virtual void | restoreAtferLink (const json &j) |
| | Restores link related properties of the node from a json object.
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void | wakeWorker () |
| | Wakes the worker thread.
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virtual | ~Node () |
| | Destructor.
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bool | _autoInitKF |
| | Auto-initialize the Kalman Filter - GUI setting.
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double | _averageEndTime |
| | Time until averaging ends and filtering starts in [s].
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InsTime | _avgEndTime |
| | Time until averaging ends and filtering starts as 'InsTime'.
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std::vector< Eigen::Vector3d > | _biasCovariances |
| | Container for the bias covariances.
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bool | _checkKalmanMatricesRanks |
| | Check the rank of the Kalman matrices every iteration (computationally expensive)
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std::vector< std::shared_ptr< const NAV::ImuObs > > | _cumulatedImuObs |
| | Container that collects all imuObs for averaging for auto-init of the KF.
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std::vector< size_t > | _cumulatedPinIds |
| | Container that collects all pinIds for averaging for auto-init of the KF.
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InsTime | _firstTimestamp |
| | Saves the first timestamp in [s].
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bool | _imuBiasesIdentical |
| | If the multiple IMUs have the same bias, GUI input cells can be reduced considerably.
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bool | _imuCharacteristicsIdentical |
| | If the multiple IMUs have the same characteristics, GUI input cells can be reduced considerably.
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double | _imuFrequency |
| | Highest IMU sample rate in [Hz] (for time step in KF prediction)
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ImuFusionType | _imuFusionType |
| | KF-type for the IMU fusion, selected in the GUI.
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bool | _imuPosSet |
| | Check whether the combined solution has an '_imuPos' set.
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std::vector< Eigen::Matrix3d > | _imuRotations_accel |
| | Rotations of all connected accelerometers - key: pinIndex, value: Rotation matrix of the accelerometer platform to body frame.
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std::vector< Eigen::Matrix3d > | _imuRotations_gyro |
| | Rotations of all connected gyros - key: pinIndex, value: Rotation matrix of the gyro platform to body frame.
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Eigen::Vector3d | _initCoeffsAccelTemp |
| | Temporary vector for the initial coefficients for acceleration.
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Eigen::Vector3d | _initCoeffsAngRateTemp |
| | Temporary vector for the initial coefficients for angular rate.
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Eigen::Vector3d | _initCovarianceCoeffsAccelTemp |
| | Temporary vector for the initial coefficients' initial covariance for the acceleration.
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Eigen::Vector3d | _initCovarianceCoeffsAngRateTemp |
| | Temporary vector for the initial coefficients' initial covariance for the angular rate.
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bool | _initJerkAngAcc |
| | flag to determine how jerk and angular acceleration states are initialized if '_autoInitKF = true'
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KalmanFilter | _kalmanFilter |
| | Kalman Filter representation.
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bool | _kfInitialized |
| | flag to check whether KF has been auto-initialized
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InsTime | _lastFiltObs |
| | Previous observation (for timestamp)
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double | _latestKnot |
| | Latest knot in [s].
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InsTime | _latestTimestamp |
| | Saves the timestamp of the measurement before in [s].
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std::vector< Eigen::Vector3d > | _measurementNoiseVariances |
| | Container for measurement noises of each sensor.
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size_t | _nInputPins |
| | Number of input pins.
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const uint8_t | _numBsplines |
| | Number of quadratic B-splines that make up the entire 3D stacked B-spline.
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const uint8_t | _numMeasurements |
| | Number of measurements overall.
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uint8_t | _numStates |
| | Number of states overall.
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uint8_t | _numStatesEst |
| | Number of estimated states (depends on imuFusionType)
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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: 3*3*2 = 18)
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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)
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const uint8_t | _numStatesPerPin |
| | Number of states per pin (biases of accel and gyro)
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std::vector< PinData > | _pinData |
| | Stores parameter data for each connected sensor.
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PinDataBsplineKF | _pinDataBsplineKF |
| | Stores Bspline-KF specific parameter data.
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PinDataIRWKF | _pinDataIRWKF |
| | Stores IRW-KF specific parameter data.
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std::vector< Eigen::VectorXd > | _processNoiseVariances |
| | Container for process noise of each state.
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Eigen::Vector3d | _procNoiseCoeffsAccelTemp |
| | Temporary vector for the initial coefficients' process noise for the acceleration.
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Eigen::Vector3d | _procNoiseCoeffsAngRateTemp |
| | Temporary vector for the initial coefficients' process noise for the angular rate.
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double | _splineSpacing |
| | Time difference between two quadratic B-splines in the stacked B-spline.
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double | _timeSinceStartup |
| | Time since startup in [s].
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Combines signals of sensors that provide the same signal-type to one signal.
Public Member Functions inherited from NAV::Imu
1.12.0