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NAV::ImuIntegrator Class Reference

Numerically integrates Imu data. More...

Public Member Functions

void guiConfig () override
 ImGui config window which is shown on double click.
 
 ImuIntegrator ()
 Default constructor.
 
 ImuIntegrator (const ImuIntegrator &)=delete
 Copy constructor.
 
 ImuIntegrator (ImuIntegrator &&)=delete
 Move constructor.
 
ImuIntegratoroperator= (const ImuIntegrator &)=delete
 Copy assignment operator.
 
ImuIntegratoroperator= (ImuIntegrator &&)=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.
 
 ~ImuIntegrator () 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.
 
InputPininputPinFromId (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.
 
Nodeoperator= (const Node &)=delete
 Copy assignment operator.
 
Nodeoperator= (Node &&)=delete
 Move assignment operator.
 
OutputPinoutputPinFromId (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 Member Functions

void deinitialize () override
 Deinitialize the node.
 
bool initialize () override
 Initialize the node.
 
void recvObservation (InputPin::NodeDataQueue &queue, size_t pinIdx)
 Receive Function.
 
void recvPosVelAttInit (InputPin::NodeDataQueue &queue, size_t pinIdx)
 Receive Function for the PosVelAtt initial values.
 

Private Attributes

InertialIntegrator _inertialIntegrator
 Inertial Integrator.
 
bool _preferAccelerationOverDeltaMeasurements
 Prefer the raw acceleration measurements over the deltaVel & deltaTheta values.
 

Static Private Attributes

static constexpr size_t INPUT_PORT_INDEX_IMU_OBS
 Flow (ImuObs)
 
static constexpr size_t INPUT_PORT_INDEX_POS_VEL_ATT_INIT
 Flow (PosVelAtt)
 
static constexpr size_t OUTPUT_PORT_INDEX_INERTIAL_NAV_SOL
 Flow (InertialNavSol)
 

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< InputPininputPins
 List of input pins.
 
Kind kind
 Kind of the Node.
 
std::string name
 Name of the Node.
 
std::vector< OutputPinoutputPins
 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

Numerically integrates Imu data.

Definition at line 23 of file ImuIntegrator.hpp.

Constructor & Destructor Documentation

◆ ImuIntegrator() [1/3]

NAV::ImuIntegrator::ImuIntegrator ( )

Default constructor.

Definition at line 32 of file ImuIntegrator.cpp.

◆ ~ImuIntegrator()

NAV::ImuIntegrator::~ImuIntegrator ( )
override

Destructor.

Definition at line 50 of file ImuIntegrator.cpp.

◆ ImuIntegrator() [2/3]

NAV::ImuIntegrator::ImuIntegrator ( const ImuIntegrator & )
delete

Copy constructor.

◆ ImuIntegrator() [3/3]

NAV::ImuIntegrator::ImuIntegrator ( ImuIntegrator && )
delete

Move constructor.

Member Function Documentation

◆ category()

std::string NAV::ImuIntegrator::category ( )
staticnodiscard

String representation of the Class Category.

Definition at line 65 of file ImuIntegrator.cpp.

◆ deinitialize()

void NAV::ImuIntegrator::deinitialize ( )
overrideprivatevirtual

Deinitialize the node.

Reimplemented from NAV::Node.

Definition at line 115 of file ImuIntegrator.cpp.

◆ guiConfig()

void NAV::ImuIntegrator::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 70 of file ImuIntegrator.cpp.

◆ initialize()

bool NAV::ImuIntegrator::initialize ( )
overrideprivatevirtual

Initialize the node.

Reimplemented from NAV::Node.

Definition at line 104 of file ImuIntegrator.cpp.

◆ operator=() [1/2]

ImuIntegrator & NAV::ImuIntegrator::operator= ( const ImuIntegrator & )
delete

Copy assignment operator.

◆ operator=() [2/2]

ImuIntegrator & NAV::ImuIntegrator::operator= ( ImuIntegrator && )
delete

Move assignment operator.

◆ recvObservation()

void NAV::ImuIntegrator::recvObservation ( InputPin::NodeDataQueue & queue,
size_t pinIdx )
private

Receive Function.

Parameters
[in]queueQueue with all the received data messages
[in]pinIdxIndex of the pin the data is received on

Definition at line 120 of file ImuIntegrator.cpp.

◆ recvPosVelAttInit()

void NAV::ImuIntegrator::recvPosVelAttInit ( InputPin::NodeDataQueue & queue,
size_t pinIdx )
private

Receive Function for the PosVelAtt initial values.

Parameters
[in]queueQueue with all the received data messages
[in]pinIdxIndex of the pin the data is received on

Definition at line 156 of file ImuIntegrator.cpp.

◆ restore()

void NAV::ImuIntegrator::restore ( const json & j)
overridevirtual

Restores the node from a json object.

Parameters
[in]jJson object with the node state

Reimplemented from NAV::Node.

Definition at line 90 of file ImuIntegrator.cpp.

◆ save()

json NAV::ImuIntegrator::save ( ) const
nodiscardoverridevirtual

Saves the node into a json object.

Reimplemented from NAV::Node.

Definition at line 78 of file ImuIntegrator.cpp.

◆ type()

std::string NAV::ImuIntegrator::type ( ) const
nodiscardoverridevirtual

String representation of the Class Type.

Implements NAV::Node.

Definition at line 60 of file ImuIntegrator.cpp.

◆ typeStatic()

std::string NAV::ImuIntegrator::typeStatic ( )
staticnodiscard

String representation of the Class Type.

Definition at line 55 of file ImuIntegrator.cpp.

Field Documentation

◆ _inertialIntegrator

InertialIntegrator NAV::ImuIntegrator::_inertialIntegrator
private

Inertial Integrator.

Definition at line 81 of file ImuIntegrator.hpp.

◆ _preferAccelerationOverDeltaMeasurements

bool NAV::ImuIntegrator::_preferAccelerationOverDeltaMeasurements
private

Prefer the raw acceleration measurements over the deltaVel & deltaTheta values.

Definition at line 84 of file ImuIntegrator.hpp.

◆ INPUT_PORT_INDEX_IMU_OBS

size_t NAV::ImuIntegrator::INPUT_PORT_INDEX_IMU_OBS
staticconstexprprivate

Flow (ImuObs)

Definition at line 61 of file ImuIntegrator.hpp.

◆ INPUT_PORT_INDEX_POS_VEL_ATT_INIT

size_t NAV::ImuIntegrator::INPUT_PORT_INDEX_POS_VEL_ATT_INIT
staticconstexprprivate

Flow (PosVelAtt)

Definition at line 62 of file ImuIntegrator.hpp.

◆ OUTPUT_PORT_INDEX_INERTIAL_NAV_SOL

size_t NAV::ImuIntegrator::OUTPUT_PORT_INDEX_INERTIAL_NAV_SOL
staticconstexprprivate

Flow (InertialNavSol)

Definition at line 60 of file ImuIntegrator.hpp.


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