Observation Filter. More...

Classes
struct	Filtered
	Filtered signals. More...

Public Member Functions
void	disableFilter ()
	Opens all settings to the maximum, disabling the filter.

void	excludeSignalTemporarily (const SatSigId &satSigId, size_t count)
	Temporarily excludes a signal.

const Code &	getCodeFilter () const
	Get the Code Filter.

const Frequency &	getFrequencyFilter () const
	Get the Frequency Filter.

SatelliteSystem	getSystemFilter () const
	Get the Satellite System Filter.

const std::unordered_set< GnssObs::ObservationType > &	getUsedObservationTypes () const
	Get the used observation types.

bool	isObsTypeUsed (GnssObs::ObservationType obsType) const
	Checks if the Observation type is used by the GUI settings.

bool	isSatelliteAllowed (const SatId &satId) const
	Checks if the satellite is allowed. Does not check elevation or SNR mask.

void	markObsTypeAsNeeded (GnssObs::ObservationType obsType, bool needed=true)
	Set the observation type as needed (cannot be unchecked in the GUI) or unneeded.

	ObservationFilter (const ObservationFilter &other)=default
	Copy constructor.

	ObservationFilter (ObservationFilter &&other) noexcept=default
	Move constructor.

	ObservationFilter (size_t receiverCount, const std::unordered_set< GnssObs::ObservationType > &availableObsTypes={ GnssObs::Pseudorange, GnssObs::Carrier, GnssObs::Doppler }, std::unordered_set< GnssObs::ObservationType > neededObsTypes={})
	Constructor.

ObservationFilter &	operator= (const ObservationFilter &other)
	Copy assignment operator.

ObservationFilter &	operator= (ObservationFilter &&other) noexcept
	Move assignment operator.

void	reset ()
	Reset the temporary settings.

template<typename ReceiverType , typename DerivedPe , typename DerivedPn >
void	selectObservationsForCalculation (ReceiverType receiverType, const Eigen::MatrixBase< DerivedPe > &e_posMarker, const Eigen::MatrixBase< DerivedPn > &lla_posMarker, const std::shared_ptr< const GnssObs > &gnssObs, const std::vector< const GnssNavInfo * > &gnssNavInfos, Observations &observations, Filtered *filtered, const std::string &nameId, bool ignoreElevationMask=false)
	Returns a list of satellites and observations filtered by GUI settings & NAV data available & ...)

template<typename ReceiverType >
bool	ShowGuiWidgets (const char *id, float itemWidth)
	Shows the GUI input to select the options.

void	useObsType (GnssObs::ObservationType obsType)
	Set the observation type to use.

	~ObservationFilter ()=default
	Destructor.

Private Attributes
const std::unordered_set< GnssObs::ObservationType >	_availableObsTypes
	Available observation types (e.g. SPP does not have Carrier)

double	_elevationMask
	Elevation cut-off angle for satellites in [rad].

std::vector< SatId >	_excludedSatellites
	List of satellites to exclude.

Code	_filterCode
	Codes used for calculation (GUI filter)

Frequency	_filterFreq
	Frequencies used for calculation (GUI filter)

std::unordered_set< GnssObs::ObservationType >	_neededObsTypes
	Needed observation types (cannot be unchecked in GUI)

bool	_sameSnrMaskForAllReceivers
	Flag wether to use the same SNR mask for all receivers.

std::vector< SNRMask >	_snrMask
	SNR Mask for all receivers.

std::unordered_map< SatSigId, size_t >	_temporarilyExcludedSignalsSatellites
	List of signals to exclude temporarily.

std::unordered_set< GnssObs::ObservationType >	_usedObsTypes
	Utilized observations.

Friends
void	from_json (const json &j, ObservationFilter &obj)
	Converts the provided json object into a node object.

void	to_json (json &j, const ObservationFilter &obj)
	Converts the provided object into json.

Detailed Description

Observation Filter.

Constructor & Destructor Documentation

◆ ObservationFilter()

NAV::ObservationFilter::ObservationFilter	(	size_t	receiverCount,
		const std::unordered_set< GnssObs::ObservationType > &	availableObsTypes = { GnssObs::Pseudorange, GnssObs::Carrier, GnssObs::Doppler },
		std::unordered_set< GnssObs::ObservationType >	neededObsTypes = {} )

inlineexplicit

Constructor.

Parameters

[in]	receiverCount	Number of receivers
[in]	availableObsTypes	Available observation types (e.g. SPP does not have Carrier)
[in]	neededObsTypes	Needed observation types (cannot be unchecked)

Member Function Documentation

◆ excludeSignalTemporarily()

void NAV::ObservationFilter::excludeSignalTemporarily	(	const SatSigId &	satSigId,
		size_t	count )

inline

Temporarily excludes a signal.

Parameters

[in]	satSigId	Satellite Signal Id
[in]	count	Amount of function calls to exclude

◆ isObsTypeUsed()

bool NAV::ObservationFilter::isObsTypeUsed ( GnssObs::ObservationType obsType ) const

inlinenodiscard

Checks if the Observation type is used by the GUI settings.

Parameters

[in] obsType Observation Type

◆ isSatelliteAllowed()

bool NAV::ObservationFilter::isSatelliteAllowed ( const SatId & satId ) const

inlinenodiscard

Checks if the satellite is allowed. Does not check elevation or SNR mask.

Parameters

[in] satId Satellite Identifier

◆ markObsTypeAsNeeded()

void NAV::ObservationFilter::markObsTypeAsNeeded	(	GnssObs::ObservationType	obsType,
		bool	needed = true )

inline

Set the observation type as needed (cannot be unchecked in the GUI) or unneeded.

Parameters

obsType	Observation Type
needed	Needed or unneeded

◆ selectObservationsForCalculation()

template<typename ReceiverType , typename DerivedPe , typename DerivedPn >

void NAV::ObservationFilter::selectObservationsForCalculation	(	ReceiverType	receiverType,
		const Eigen::MatrixBase< DerivedPe > &	e_posMarker,
		const Eigen::MatrixBase< DerivedPn > &	lla_posMarker,
		const std::shared_ptr< const GnssObs > &	gnssObs,
		const std::vector< const GnssNavInfo * > &	gnssNavInfos,
		Observations &	observations,
		Filtered *	filtered,
		const std::string &	nameId,
		bool	ignoreElevationMask = false )

inline

Returns a list of satellites and observations filtered by GUI settings & NAV data available & ...)

Parameters

[in]	receiverType	Receiver type index to filter
[in]	e_posMarker	Marker Position in ECEF frame [m]
[in]	lla_posMarker	Marker Position in LLA frame [rad, rad, m]
[in]	gnssObs	GNSS observation
[in]	gnssNavInfos	Collection of navigation data providers
[in]	nameId	Name and Id of the node used for log messages only
[in]	observations	List of observations which will be filled. If you have multiple receivers, the observations list will be the same object
[in]	filtered	Optional Filtered object to get back the filtered signals
[in]	ignoreElevationMask	Flag wether the elevation mask should be ignored

◆ ShowGuiWidgets()

template<typename ReceiverType >

bool NAV::ObservationFilter::ShowGuiWidgets	(	const char *	id,
		float	itemWidth )

inline

Shows the GUI input to select the options.

Parameters

[in]	id	Unique id for ImGui.
[in]	itemWidth	Width of the widgets

◆ useObsType()

void NAV::ObservationFilter::useObsType ( GnssObs::ObservationType obsType )

inline

Set the observation type to use.

Parameters

obsType Observation Type

Friends And Related Symbol Documentation

◆ from_json

void from_json	(	const json &	j,
		ObservationFilter &	obj )

friend

Converts the provided json object into a node object.

Parameters

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

◆ to_json

void to_json	(	json &	j,
		const ObservationFilter &	obj )

friend

Converts the provided object into json.

Parameters

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

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

/home/runner/work/INSTINCT/INSTINCT/src/Navigation/GNSS/Positioning/ObservationFilter.hpp

Classes

Public Member Functions

Private Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ ObservationFilter()

Member Function Documentation

◆ excludeSignalTemporarily()

◆ isObsTypeUsed()

◆ isSatelliteAllowed()

◆ markObsTypeAsNeeded()

◆ selectObservationsForCalculation()

◆ ShowGuiWidgets()

◆ useObsType()

Friends And Related Symbol Documentation

◆ from_json

◆ to_json