Imu Observation Simulator. More...

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

	ImuSimulator ()
	Default constructor.

	ImuSimulator (const ImuSimulator &)=delete
	Copy constructor.

	ImuSimulator (ImuSimulator &&)=delete
	Move constructor.

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

ImuSimulator &	operator= (ImuSimulator &&)=delete
	Move assignment operator.

bool	resetNode () override
	Resets the node. Moves the read cursor to the start.

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.

	~ImuSimulator () 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.

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 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 Types
enum class	Direction : uint8_t { CW , CCW , COUNT }
	Possible directions for the circular trajectory. More...

enum class	StartTimeSource : uint8_t { CustomTime , CurrentComputerTime }
	Types where the start time should be pulled from. More...

enum	StopCondition : uint8_t { Duration , DistanceOrCirclesOrRoses }
	Possible stop conditions for the simulation. More...

enum class	TrajectoryType : uint8_t { Fixed , Linear , Circular , Csv , RoseFigure , COUNT }
	Types of Trajectories available for simulation. More...

Private Member Functions
std::array< double, 3 >	calcFlightAngles (double time) const
	Calculates the flight angles (roll, pitch, yaw)

bool	checkStopCondition (double time, const Eigen::Vector3d &lla_position)
	Checks the selected stop condition.

void	deinitialize () override
	Deinitialize the node.

Eigen::Vector3d	e_getPositionFromCsvLine (const CsvData::CsvLine &line, const std::vector< std::string > &description) const
	Get the Position from a CSV line.

InsTime	getTimeFromCsvLine (const CsvData::CsvLine &line, const std::vector< std::string > &description) const
	Get the Time from a CSV line.

bool	initialize () override
	Initialize the node.

bool	initializeSplines ()
	Initializes the spline values.

Eigen::Vector3d	lla_calcPosition (double time) const
	Calculates the position in latLonAlt at the given time depending on the trajectoryType.

Eigen::Vector3d	n_calcOmega_nb (double time, const Eigen::Vector3d &rollPitchYaw, const Eigen::Quaterniond &n_Quat_b) const
	Calculates ω_nb_n, the turn rate of the body with respect to the navigation system expressed in NED coordinates.

Eigen::Vector3d	n_calcTrajectoryAccel (double time, const Eigen::Quaterniond &n_Quat_e, const Eigen::Vector3d &lla_position, const Eigen::Vector3d &n_velocity) const
	Calculates the acceleration in local-navigation frame coordinates at the given time depending on the trajectoryType.

Eigen::Vector3d	n_calcVelocity (double time, const Eigen::Quaterniond &n_Quat_e) const
	Calculates the velocity in local-navigation frame coordinates at the given time depending on the trajectoryType.

std::shared_ptr< const NodeData >	pollImuObs (size_t pinIdx, bool peek)
	Polls the next simulated data.

std::shared_ptr< const NodeData >	pollPosVelAtt (size_t pinIdx, bool peek)
	Polls the next simulated data.

Static Private Member Functions
static Eigen::Quaterniond	n_getAttitudeQuaternionFromCsvLine_b (const CsvData::CsvLine &line, const std::vector< std::string > &description)
	Get the Attitude quaternion n_quat_b from a CSV line.

static const char *	to_string (Direction value)
	Converts the enum to a string.

static const char *	to_string (TrajectoryType value)
	Converts the enum to a string.

Private Attributes
bool	_angularRateEarthRotationEnabled
	Apply the Earth rotation rate to the measured angular rates.

bool	_angularRateTransportRateEnabled
	Apply the transport rate to the measured angular rates.

bool	_centrifgalAccelerationEnabled
	Apply the centrifugal acceleration to the measured accelerations.

double	_circularHarmonicAmplitudeFactor
	Harmonic Oscillation Amplitude Factor of the circle radius [-].

int	_circularHarmonicFrequency
	Harmonic Oscillation Frequency on the circular trajectory [cycles/revolution].

double	_circularTrajectoryCircleCountForStop
	Amount of circles to simulate before stopping.

bool	_coriolisAccelerationEnabled
	Apply the coriolis acceleration to the measured accelerations.

double	_csvDuration
	Duration from the CSV file in [s].

Eigen::Vector3d	_fixedTrajectoryStartOrientation
	Orientation of the vehicle [roll, pitch, yaw] [rad].

double	_gnssFrequency
	Frequency to sample the position with in [Hz].

double	_gnssLastUpdateTime
	Last time the GNSS message was calculated in [s].

uint64_t	_gnssUpdateCnt
	Counter to calculate the GNSS update time.

GravitationModel	_gravitationModel
	Gravitation model selected in the GUI.

double	_imuFrequency
	Frequency to sample the IMU with in [Hz].

double	_imuInternalFrequency
	Frequency to calculate the delta IMU values in [Hz].

uint64_t	_imuInternalUpdateCnt
	Counter to calculate the internal IMU update time.

double	_imuLastUpdateTime
	Last time the IMU message was calculated in [s].

uint64_t	_imuUpdateCnt
	Counter to calculate the IMU update time.

double	_linearTrajectoryDistanceForStop
	Distance in [m] to the start position to stop the simulation.

Eigen::Vector3d	_lla_gnssLastLinearPosition
	Last calculated position for the GNSS in linear mode for iterative calculations as latitude, longitude, altitude [rad, rad, m].

Eigen::Vector3d	_lla_imuLastLinearPosition
	Last calculated position for the IMU in linear mode for iterative calculations as latitude, longitude, altitude [rad, rad, m].

Eigen::Vector3d	_n_linearTrajectoryStartVelocity
	Start Velocity of the vehicle in local-navigation frame cooridnates in [m/s].

Eigen::Vector3d	_p_lastImuAccelerationMeas
	Last calculated acceleration measurement in platform coordinates [m/s²].

Eigen::Vector3d	_p_lastImuAngularRateMeas
	Last calculated angular rate measurement in platform coordinates [rad/s].

int	_rosePetDenom
	In the GUI selected denominator of petals (2*k for even k, k for uneven k) of the rose figure.

int	_rosePetNum
	In the GUI selected numerator of petals (2*k for even k, k for uneven k) of the rose figure.

double	_roseSimDuration
	Simulation duration needed for the rose figure.

double	_roseStepLengthMax
	Maxmimum step length for the spline points for the rose figure [m]. Points will be spaced between [L/3 L].

double	_roseTrajectoryCountForStop
	Amount of rose figures to simulate before stopping.

double	_simulationDuration
	Duration to simulate in [s].

StopCondition	_simulationStopCondition
	Condition which has to be met to stop the simulation.

struct {

CubicSpline< long double > pitch
	Pitch angle [rad].

CubicSpline< long double > roll
	Roll angle [rad].

double sampleInterval
	Spline sample interval.

CubicSpline< long double > x
	ECEF X Position [m].

CubicSpline< long double > y
	ECEF Y Position [m].

CubicSpline< long double > yaw
	Yaw angle [rad].

CubicSpline< long double > z
	ECEF Z Position [m].

}	_splines
	Assign a variable that holds the Spline information.

gui::widgets::PositionWithFrame	_startPosition

InsTime	_startTime
	Global starttime.

gui::widgets::TimeEditFormat	_startTimeEditFormat
	Time Format to input the start time with.

StartTimeSource	_startTimeSource
	Source for the start time, selected in the GUI.

Direction	_trajectoryDirection
	In the GUI selected direction of the circular trajectory (used by circular and rose figure)

double	_trajectoryHorizontalSpeed
	Horizontal speed of the vehicle in the tangential plane in [m/s] (used by circular and rose figure)

double	_trajectoryRadius
	In the GUI selected radius of the circular trajectory (used by circular and rose figure)

double	_trajectoryRotationAngle
	In the GUI selected origin angle of the circular trajectory in [rad].

TrajectoryType	_trajectoryType
	Selected trajectory type in the GUI.

double	_trajectoryVerticalSpeed
	Vertical speed of the vehicle in the tangential plane in [m/s] (used by circular and rose figure)

Static Private Attributes
static constexpr size_t	INPUT_PORT_INDEX_CSV
	Object (CsvData)

static constexpr double	INTERNAL_LINEAR_UPDATE_FREQUENCY
	Update rate for the internal solution of linear movement in [Hz].

static constexpr size_t	OUTPUT_PORT_INDEX_IMU_OBS
	Flow (ImuObs)

static constexpr size_t	OUTPUT_PORT_INDEX_POS_VEL_ATT
	Flow (PosVelAtt)

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...

Public Attributes 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.

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.

Detailed Description

Imu Observation Simulator.

Member Enumeration Documentation

◆ Direction

enum class NAV::ImuSimulator::Direction : uint8_t

strongprivate

Possible directions for the circular trajectory.

Enumerator
CW	Clockwise.
CCW	Counterclockwise.
COUNT	Amount of items in the enum.

◆ StartTimeSource

enum class NAV::ImuSimulator::StartTimeSource : uint8_t

strongprivate

Types where the start time should be pulled from.

Enumerator
CustomTime	Custom time selected by the user.
CurrentComputerTime	Gets the current computer time as start time.

◆ StopCondition

enum NAV::ImuSimulator::StopCondition : uint8_t

private

Possible stop conditions for the simulation.

Enumerator
Duration	Time Duration.
DistanceOrCirclesOrRoses	Distance for Linear trajectory / Circle count for Circular / Count for rose figure trajectory.

◆ TrajectoryType

enum class NAV::ImuSimulator::TrajectoryType : uint8_t

strongprivate

Types of Trajectories available for simulation.

Enumerator
Fixed	Static position without movement.
Linear	Linear movement with constant velocity.
Circular	Circular path.
Csv	Get the input from the CsvData pin.
RoseFigure	Movement along a mathmatical rose figure.
COUNT	Amount of items in the enum.

Member Function Documentation

◆ calcFlightAngles()

std::array< double, 3 > NAV::ImuSimulator::calcFlightAngles ( double time ) const

nodiscardprivate

Calculates the flight angles (roll, pitch, yaw)

Parameters

[in] time Time in [s]

Returns: Roll, pitch, yaw in [rad]

◆ checkStopCondition()

bool NAV::ImuSimulator::checkStopCondition	(	double	time,
		const Eigen::Vector3d &	lla_position )

private

Checks the selected stop condition.

Parameters

[in]	time	Current simulation time
[in]	lla_position	Current position

Returns: True if it should be stopped

◆ deinitialize()

void NAV::ImuSimulator::deinitialize ( )

overrideprivatevirtual

Deinitialize the node.

Reimplemented from NAV::Node.

◆ e_getPositionFromCsvLine()

Eigen::Vector3d NAV::ImuSimulator::e_getPositionFromCsvLine	(	const CsvData::CsvLine &	line,
		const std::vector< std::string > &	description ) const

nodiscardprivate

Get the Position from a CSV line.

Parameters

[in]	line	Line with data from the csv
[in]	description	Description of the data

Returns: Position in ECEF coordinates in [m] or NaN if data not found

◆ getTimeFromCsvLine()

InsTime NAV::ImuSimulator::getTimeFromCsvLine	(	const CsvData::CsvLine &	line,
		const std::vector< std::string > &	description ) const

nodiscardprivate

Get the Time from a CSV line.

Parameters

[in]	line	Line with data from the csv
[in]	description	Description of the data

Returns: InsTime or empty time if data not found

◆ guiConfig()

void NAV::ImuSimulator::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.

◆ initialize()

bool NAV::ImuSimulator::initialize ( )

overrideprivatevirtual

Initialize the node.

Reimplemented from NAV::Node.

◆ initializeSplines()

bool NAV::ImuSimulator::initializeSplines ( )

private

Initializes the spline values.

Returns: True if everything succeeded

◆ lla_calcPosition()

Eigen::Vector3d NAV::ImuSimulator::lla_calcPosition ( double time ) const

nodiscardprivate

Calculates the position in latLonAlt at the given time depending on the trajectoryType.

Parameters

[in] time Time in [s]

Returns: LatLonAlt in [rad, rad, m]

◆ n_calcOmega_nb()

Eigen::Vector3d NAV::ImuSimulator::n_calcOmega_nb	(	double	time,
		const Eigen::Vector3d &	rollPitchYaw,
		const Eigen::Quaterniond &	n_Quat_b ) const

nodiscardprivate

Calculates ω_nb_n, the turn rate of the body with respect to the navigation system expressed in NED coordinates.

Parameters

[in]	time	Time in [s]
[in]	rollPitchYaw	Gimbal angles (roll, pitch, yaw) [rad]
[in]	n_Quat_b	Rotation quaternion from body frame to the local-navigation frame

Returns: ω_nb_n [rad/s]

◆ n_calcTrajectoryAccel()

Eigen::Vector3d NAV::ImuSimulator::n_calcTrajectoryAccel	(	double	time,
		const Eigen::Quaterniond &	n_Quat_e,
		const Eigen::Vector3d &	lla_position,
		const Eigen::Vector3d &	n_velocity ) const

nodiscardprivate

Calculates the acceleration in local-navigation frame coordinates at the given time depending on the trajectoryType.

Parameters

[in]	time	Time in [s]
[in]	n_Quat_e	Rotation quaternion from Earth frame to local-navigation frame
[in]	lla_position	Current position as latitude, longitude, altitude [rad, rad, m]
[in]	n_velocity	Velocity in local-navigation frame coordinates [m/s]

Returns: n_accel in [rad, rad, m]

◆ n_calcVelocity()

Eigen::Vector3d NAV::ImuSimulator::n_calcVelocity	(	double	time,
		const Eigen::Quaterniond &	n_Quat_e ) const

nodiscardprivate

Calculates the velocity in local-navigation frame coordinates at the given time depending on the trajectoryType.

Parameters

[in]	time	Time in [s]
[in]	n_Quat_e	Rotation quaternion from Earth frame to local-navigation frame

Returns: n_velocity in [rad, rad, m]

◆ n_getAttitudeQuaternionFromCsvLine_b()

static Eigen::Quaterniond NAV::ImuSimulator::n_getAttitudeQuaternionFromCsvLine_b	(	const CsvData::CsvLine &	line,
		const std::vector< std::string > &	description )

staticprivate

Get the Attitude quaternion n_quat_b from a CSV line.

Parameters

[in]	line	Line with data from the csv
[in]	description	Description of the data

Returns: Attitude quaternion n_quat_b or NaN if data not found

◆ pollImuObs()

std::shared_ptr< const NodeData > NAV::ImuSimulator::pollImuObs	(	size_t	pinIdx,
		bool	peek )

nodiscardprivate

Polls the next simulated data.

Parameters

[in]	pinIdx	Index of the pin the data is requested on
[in]	peek	Specifies if the data should be peeked or read

Returns: The simulated observation

◆ pollPosVelAtt()

std::shared_ptr< const NodeData > NAV::ImuSimulator::pollPosVelAtt	(	size_t	pinIdx,
		bool	peek )

nodiscardprivate

Polls the next simulated data.

Parameters

[in]	pinIdx	Index of the pin the data is requested on
[in]	peek	Specifies if the data should be peeked or read

Returns: The simulated observation

◆ resetNode()

bool NAV::ImuSimulator::resetNode ( )

overridevirtual

Resets the node. Moves the read cursor to the start.

Reimplemented from NAV::Node.

◆ restore()

void NAV::ImuSimulator::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.

◆ save()

json NAV::ImuSimulator::save ( ) const

nodiscardoverridevirtual

Saves the node into a json object.

Reimplemented from NAV::Imu.

◆ to_string() [1/2]

static const char * NAV::ImuSimulator::to_string ( Direction value )

staticprivate

Converts the enum to a string.

Parameters

[in] value Enum value to convert into text

Returns: String representation of the enum

◆ to_string() [2/2]

static const char * NAV::ImuSimulator::to_string ( TrajectoryType value )

staticprivate

Converts the enum to a string.

Parameters

[in] value Enum value to convert into text

Returns: String representation of the enum

◆ type()

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

nodiscardoverridevirtual

String representation of the Class Type.

Implements NAV::Node.

Member Data Documentation

◆ _startPosition

gui::widgets::PositionWithFrame NAV::ImuSimulator::_startPosition

private

Start position in local navigation coordinates (latitude, longitude, altitude) [rad, rad, m]

Fixed, Linear: Start position
Circular: Center of the circle

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

/home/runner/work/INSTINCT/INSTINCT/src/Nodes/DataProvider/IMU/Simulators/ImuSimulator.hpp

Public Member Functions

Static Public Member Functions

Private Types

Private Member Functions

Static Private Member Functions

Private Attributes

Static Private Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ Direction

◆ StartTimeSource

◆ StopCondition

◆ TrajectoryType

Member Function Documentation

◆ calcFlightAngles()

◆ checkStopCondition()

◆ deinitialize()

◆ e_getPositionFromCsvLine()

◆ getTimeFromCsvLine()

◆ guiConfig()

◆ initialize()

◆ initializeSplines()

◆ lla_calcPosition()

◆ n_calcOmega_nb()

◆ n_calcTrajectoryAccel()

◆ n_calcVelocity()

◆ n_getAttitudeQuaternionFromCsvLine_b()

◆ pollImuObs()

◆ pollPosVelAtt()

◆ resetNode()

◆ restore()

◆ save()

◆ to_string() [1/2]

◆ to_string() [2/2]

◆ type()

Member Data Documentation

◆ _startPosition