Filters incoming data. More...

Data Structures
struct	FilterItem
	Filter description. More...

Public Member Functions
void	guiConfig () override
	ImGui config window which is shown on double click.
	LowPassFilter ()
	Default constructor.
	LowPassFilter (const LowPassFilter &)=delete
	Copy constructor.
	LowPassFilter (LowPassFilter &&)=delete
	Move constructor.
LowPassFilter &	operator= (const LowPassFilter &)=delete
	Copy assignment operator.
LowPassFilter &	operator= (LowPassFilter &&)=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.
	~LowPassFilter () override
	Destructor.
Public Member Functions inherited from NAV::Node
template<std::derived_from< Node > T>
InputPin *	CreateInputPin (const char name, Pin::Type pinType, const std::vector< std::string > &dataIdentifier, void(T::notifyFunc)(const InsTime &, size_t), int idx=-1)
	Create an Input Pin object for data pins. The additional notify function gets called when the connected data was changed and the connected node calls NAV::Node::notifyOutputValueChanged.
InputPin *	CreateInputPin (const char *name, Pin::Type pinType, const std::vector< std::string > &dataIdentifier={}, InputPin::Callback callback=static_cast< InputPin::FlowFirableCallbackFunc >(nullptr), InputPin::FlowFirableCheckFunc firable=nullptr, int priority=0, int idx=-1)
	Create an Input Pin object.
template<std::derived_from< Node > T>
InputPin *	CreateInputPin (const char name, Pin::Type pinType, const std::vector< std::string > &dataIdentifier={}, void(T::callback)(InputPin::NodeDataQueue &, size_t)=nullptr, InputPin::FlowFirableCheckFunc firable=nullptr, int priority=0, int idx=-1)
	Create an Input Pin object.
OutputPin *	CreateOutputPin (const char name, Pin::Type pinType, const std::vector< std::string > &dataIdentifier, OutputPin::PinData data=static_cast< void >(nullptr), int idx=-1)
	Create an Output Pin object.
template<std::derived_from< Node > T>
OutputPin *	CreateOutputPin (const char name, Pin::Type pinType, const std::vector< std::string > &dataIdentifier, std::shared_ptr< const NAV::NodeData >(T::peekPollDataFunc)(size_t, bool)=nullptr, int idx=-1)
	Create an Output Pin object for Flow Pins.
template<std::derived_from< Node > T>
OutputPin *	CreateOutputPin (const char name, Pin::Type pinType, const std::vector< std::string > &dataIdentifier, std::shared_ptr< const NAV::NodeData >(T::pollDataFunc)()=nullptr, int idx=-1)
	Create an Output Pin object for Flow Pins.
virtual void	deinitialize ()
	Deinitialize the Node.
bool	DeleteInputPin (size_t pinIndex)
	Deletes the input pin. Invalidates the pin reference given.
bool	DeleteOutputPin (size_t pinIndex)
	Deletes the output pin. Invalidates the pin reference given.
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.
virtual bool	initialize ()
	Initialize 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	FilterType : uint8_t { Linear , COUNT }
	Types of available filters (to be extended) More...

Private Member Functions
void	afterCreateLink (OutputPin &startPin, InputPin &endPin) override
	Called when a new link was established.
void	afterDeleteLink (OutputPin &startPin, InputPin &endPin) override
	Called when a link was deleted.
void	receiveObs (InputPin::NodeDataQueue &queue, size_t pinIdx)
	Callback when receiving data on a port.
bool	resetNode () override
	Resets the node. It is guaranteed that the node is initialized when this is called.

Static Private Member Functions
static std::optional< double >	filterData (FilterItem &item, const InsTime &insTime, double value)
	Filter the provided data.
static const char *	to_string (FilterType value)
	Converts the enum to a string.

Private Attributes
std::vector< std::string >	_availableItems
	Available items.
std::vector< FilterItem >	_filterItems
	Items to filter.
size_t	_gui_availableItemsSelection
	Selected item in the combo.

Static Private Attributes
static constexpr size_t	INPUT_PORT_INDEX_FLOW
	Flow.
static constexpr size_t	OUTPUT_PORT_INDEX_FLOW
	Flow.

Friends
void	from_json (const json &j, LowPassFilter::FilterItem &data)
	Converts the provided json object into a link object.
void	to_json (json &j, const FilterItem &data)
	Converts the provided link into a json object.

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

Filters incoming data.

Definition at line 28 of file LowPassFilter.hpp.

Member Enumeration Documentation

◆ FilterType

enum class NAV::LowPassFilter::FilterType : uint8_t

strongprivate

Types of available filters (to be extended)

Enumerator
Linear	Linear fit filter.
COUNT	Amount of items in the enum.

Definition at line 71 of file LowPassFilter.hpp.

Constructor & Destructor Documentation

◆ LowPassFilter() [1/3]

NAV::LowPassFilter::LowPassFilter ( )

Default constructor.

Definition at line 38 of file LowPassFilter.cpp.

◆ ~LowPassFilter()

NAV::LowPassFilter::~LowPassFilter ( )

override

Destructor.

Definition at line 50 of file LowPassFilter.cpp.

◆ LowPassFilter() [2/3]

NAV::LowPassFilter::LowPassFilter ( const LowPassFilter & )

delete

Copy constructor.

◆ LowPassFilter() [3/3]

NAV::LowPassFilter::LowPassFilter ( LowPassFilter && )

delete

Move constructor.

Member Function Documentation

◆ afterCreateLink()

void NAV::LowPassFilter::afterCreateLink	(	OutputPin &	startPin,
		InputPin &	endPin )

overrideprivatevirtual

Called when a new link was established.

Parameters

[in]	startPin	Pin where the link starts
[in]	endPin	Pin where the link ends

Reimplemented from NAV::Node.

Definition at line 240 of file LowPassFilter.cpp.

◆ afterDeleteLink()

void NAV::LowPassFilter::afterDeleteLink	(	OutputPin &	startPin,
		InputPin &	endPin )

overrideprivatevirtual

Called when a link was deleted.

Parameters

[in]	startPin	Pin where the link starts
[in]	endPin	Pin where the link ends

Reimplemented from NAV::Node.

Definition at line 290 of file LowPassFilter.cpp.

◆ category()

std::string NAV::LowPassFilter::category ( )

staticnodiscard

String representation of the Class Category.

Definition at line 65 of file LowPassFilter.cpp.

◆ filterData()

std::optional< double > NAV::LowPassFilter::filterData	(	FilterItem &	item,
		const InsTime &	insTime,
		double	value )

staticnodiscardprivate

Filter the provided data.

Parameters

[in]	item	Filter item to fit
[in]	insTime	Current Time
[in]	value	Current value to filter

Definition at line 346 of file LowPassFilter.cpp.

◆ guiConfig()

void NAV::LowPassFilter::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 LowPassFilter.cpp.

◆ operator=() [1/2]

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

delete

Copy assignment operator.

◆ operator=() [2/2]

LowPassFilter & NAV::LowPassFilter::operator= ( LowPassFilter && )

delete

Move assignment operator.

◆ receiveObs()

void NAV::LowPassFilter::receiveObs	(	InputPin::NodeDataQueue &	queue,
		size_t	pinIdx )

private

Callback when receiving data on a port.

Parameters

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

Definition at line 306 of file LowPassFilter.cpp.

◆ resetNode()

bool NAV::LowPassFilter::resetNode ( )

overrideprivatevirtual

Resets the node. It is guaranteed that the node is initialized when this is called.

Reimplemented from NAV::Node.

Definition at line 227 of file LowPassFilter.cpp.

◆ restore()

void NAV::LowPassFilter::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 220 of file LowPassFilter.cpp.

◆ save()

json NAV::LowPassFilter::save ( ) const

nodiscardoverridevirtual

Saves the node into a json object.

Reimplemented from NAV::Node.

Definition at line 208 of file LowPassFilter.cpp.

◆ to_string()

const char * NAV::LowPassFilter::to_string ( FilterType value )

staticprivate

Converts the enum to a string.

Parameters

[in] value Enum value to convert into text

Returns: String representation of the enum

Definition at line 380 of file LowPassFilter.cpp.

◆ type()

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

nodiscardoverridevirtual

String representation of the Class Type.

Implements NAV::Node.

Definition at line 60 of file LowPassFilter.cpp.

◆ typeStatic()

std::string NAV::LowPassFilter::typeStatic ( )

staticnodiscard

String representation of the Class Type.

Definition at line 55 of file LowPassFilter.cpp.

◆ from_json

void from_json	(	const json &	j,
		LowPassFilter::FilterItem &	data )

friend

Converts the provided json object into a link object.

Parameters

[in]	j	Json object with the needed values
[out]	data	Object to fill from the json

Definition at line 406 of file LowPassFilter.cpp.

◆ to_json

void to_json	(	json &	j,
		const FilterItem &	data )

friend

Converts the provided link into a json object.

Parameters

[out]	j	Json object which gets filled with the info
[in]	data	Data to convert into json

Definition at line 397 of file LowPassFilter.cpp.

Field Documentation

◆ _availableItems

std::vector<std::string> NAV::LowPassFilter::_availableItems

private

Available items.

Definition at line 108 of file LowPassFilter.hpp.

◆ _filterItems

std::vector<FilterItem> NAV::LowPassFilter::_filterItems

private

Items to filter.

Definition at line 110 of file LowPassFilter.hpp.

◆ _gui_availableItemsSelection

size_t NAV::LowPassFilter::_gui_availableItemsSelection

private

Selected item in the combo.

Definition at line 105 of file LowPassFilter.hpp.

◆ INPUT_PORT_INDEX_FLOW

size_t NAV::LowPassFilter::INPUT_PORT_INDEX_FLOW

staticconstexprprivate

Flow.

Definition at line 66 of file LowPassFilter.hpp.

◆ OUTPUT_PORT_INDEX_FLOW

size_t NAV::LowPassFilter::OUTPUT_PORT_INDEX_FLOW

staticconstexprprivate

Flow.

Definition at line 65 of file LowPassFilter.hpp.

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

/home/runner/work/INSTINCT/INSTINCT/src/Nodes/DataProcessor/Filter/LowPassFilter.hpp
/home/runner/work/INSTINCT/INSTINCT/src/Nodes/DataProcessor/Filter/LowPassFilter.cpp

Data Structures

Public Member Functions

Static Public Member Functions

Private Types

Private Member Functions

Static Private Member Functions

Private Attributes

Static Private Attributes

Friends

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ FilterType

Constructor & Destructor Documentation

◆ LowPassFilter() [1/3]

◆ ~LowPassFilter()

◆ LowPassFilter() [2/3]

◆ LowPassFilter() [3/3]

Member Function Documentation

◆ afterCreateLink()

◆ afterDeleteLink()

◆ category()

◆ filterData()

◆ guiConfig()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ receiveObs()

◆ resetNode()

◆ restore()

◆ save()

◆ to_string()

◆ type()

◆ typeStatic()

Friends And Related Symbol Documentation

◆ from_json

◆ to_json

Field Documentation

◆ _availableItems

◆ _filterItems

◆ _gui_availableItemsSelection

◆ INPUT_PORT_INDEX_FLOW

◆ OUTPUT_PORT_INDEX_FLOW