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

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
bool	_imuPreintegration
	Wether IMU preintegration should be used.
InertialIntegrator	_inertialIntegrator
	Inertial Integrator.
InertialPreIntegrator	_inertialPreintegrator
	Inertial Preintegrator.
std::shared_ptr< const ImuObs >	_lastImuObs
	Last IMU measuremnt.
std::shared_ptr< const PosVelAtt >	_lastPosVelAtt
	Last position, velocity and attitude.
bool	_preferAccelerationOverDeltaMeasurements
	Prefer the raw acceleration measurements over the deltaVel & deltaTheta values.
bool	_resetPreintegratorEveryEpoch
	Resetting the preintegrator every epoch makes it behave like a normal integrator.

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< 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 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 29 of file ImuIntegrator.hpp.

Constructor & Destructor Documentation

◆ ImuIntegrator() [1/3]

NAV::ImuIntegrator::ImuIntegrator ( )

Default constructor.

Definition at line 33 of file ImuIntegrator.cpp.

◆ ~ImuIntegrator()

NAV::ImuIntegrator::~ImuIntegrator ( )

override

Destructor.

Definition at line 51 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 66 of file ImuIntegrator.cpp.

◆ deinitialize()

void NAV::ImuIntegrator::deinitialize ( )

overrideprivatevirtual

Deinitialize the node.

Reimplemented from NAV::Node.

Definition at line 139 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 71 of file ImuIntegrator.cpp.

◆ initialize()

bool NAV::ImuIntegrator::initialize ( )

overrideprivatevirtual

Initialize the node.

Reimplemented from NAV::Node.

Definition at line 125 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]	queue	Queue with all the received data messages
[in]	pinIdx	Index of the pin the data is received on

Definition at line 144 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]	queue	Queue with all the received data messages
[in]	pinIdx	Index of the pin the data is received on

Definition at line 232 of file ImuIntegrator.cpp.

◆ restore()

void NAV::ImuIntegrator::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 114 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 101 of file ImuIntegrator.cpp.

◆ type()

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

nodiscardoverridevirtual

String representation of the Class Type.

Implements NAV::Node.

Definition at line 61 of file ImuIntegrator.cpp.

◆ typeStatic()

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

staticnodiscard

String representation of the Class Type.

Definition at line 56 of file ImuIntegrator.cpp.

Field Documentation

◆ _imuPreintegration

bool NAV::ImuIntegrator::_imuPreintegration

private

Wether IMU preintegration should be used.

Definition at line 87 of file ImuIntegrator.hpp.

◆ _inertialIntegrator

InertialIntegrator NAV::ImuIntegrator::_inertialIntegrator

private

Inertial Integrator.

Definition at line 93 of file ImuIntegrator.hpp.

◆ _inertialPreintegrator

InertialPreIntegrator NAV::ImuIntegrator::_inertialPreintegrator

private

Inertial Preintegrator.

Definition at line 96 of file ImuIntegrator.hpp.

◆ _lastImuObs

std::shared_ptr<const ImuObs> NAV::ImuIntegrator::_lastImuObs

private

Last IMU measuremnt.

Definition at line 104 of file ImuIntegrator.hpp.

◆ _lastPosVelAtt

std::shared_ptr<const PosVelAtt> NAV::ImuIntegrator::_lastPosVelAtt

private

Last position, velocity and attitude.

Definition at line 107 of file ImuIntegrator.hpp.

◆ _preferAccelerationOverDeltaMeasurements

bool NAV::ImuIntegrator::_preferAccelerationOverDeltaMeasurements

private

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

Definition at line 99 of file ImuIntegrator.hpp.

◆ _resetPreintegratorEveryEpoch

bool NAV::ImuIntegrator::_resetPreintegratorEveryEpoch

private

Resetting the preintegrator every epoch makes it behave like a normal integrator.

Definition at line 90 of file ImuIntegrator.hpp.

◆ INPUT_PORT_INDEX_IMU_OBS

size_t NAV::ImuIntegrator::INPUT_PORT_INDEX_IMU_OBS

staticconstexprprivate

Flow (ImuObs)

Definition at line 67 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 68 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 66 of file ImuIntegrator.hpp.

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

/home/runner/work/INSTINCT/INSTINCT/src/Nodes/DataProcessor/Integrator/ImuIntegrator.hpp
/home/runner/work/INSTINCT/INSTINCT/src/Nodes/DataProcessor/Integrator/ImuIntegrator.cpp

Public Member Functions

Static Public Member Functions

Private Member Functions

Private Attributes

Static Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ImuIntegrator() [1/3]

◆ ~ImuIntegrator()

◆ ImuIntegrator() [2/3]

◆ ImuIntegrator() [3/3]

Member Function Documentation

◆ category()

◆ deinitialize()

◆ guiConfig()

◆ initialize()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ recvObservation()

◆ recvPosVelAttInit()

◆ restore()

◆ save()

◆ type()

◆ typeStatic()

Field Documentation

◆ _imuPreintegration

◆ _inertialIntegrator

◆ _inertialPreintegrator

◆ _lastImuObs

◆ _lastPosVelAtt

◆ _preferAccelerationOverDeltaMeasurements

◆ _resetPreintegratorEveryEpoch

◆ INPUT_PORT_INDEX_IMU_OBS

◆ INPUT_PORT_INDEX_POS_VEL_ATT_INIT

◆ OUTPUT_PORT_INDEX_INERTIAL_NAV_SOL