Position, Velocity, Attitude Initializer from GPS and IMU data. More...

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

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

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

	PosVelAttInitializer ()
	Default constructor.

	PosVelAttInitializer (const PosVelAttInitializer &)=delete
	Copy constructor.

	PosVelAttInitializer (PosVelAttInitializer &&)=delete
	Move constructor.

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.

	~PosVelAttInitializer () 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.

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 Types
enum class	AttitudeMode : uint8_t { BOTH , IMU , GNSS , COUNT }
	Initialization source for attitude. More...

enum class	VelocityOverride : uint8_t { OFF , ECEF , NED , COUNT }
	Override options for Position. More...

Private Member Functions
void	deinitialize () override
	Deinitialize the node.

void	finalizeInit ()
	Checks whether all Flags are set and writes logs messages.

bool	initialize () override
	Initialize the node.

std::shared_ptr< const NodeData >	pollPVASolution ()
	Polls the PVA solution if all is set in the GUI.

void	receiveGnssObs (InputPin::NodeDataQueue &queue, size_t pinIdx)
	Receive Gnss Observations.

void	receiveImuObs (InputPin::NodeDataQueue &queue, size_t pinIdx)
	Receive Imu Observations.

void	receivePosObs (const std::shared_ptr< const Pos > &obs)
	Receive Pos Observations.

void	receivePosVelAttObs (const std::shared_ptr< const PosVelAtt > &obs)
	Receive PosVelAtt Observations.

void	receivePosVelObs (const std::shared_ptr< const PosVel > &obs)
	Receive PosVel Observations.

void	receiveUbloxObs (const std::shared_ptr< const UbloxObs > &obs)
	Receive Ublox Observations.

void	updatePins ()
	Add or removes input pins depending on the settings and modifies the output pin.

Private Attributes
AttitudeMode	_attitudeMode
	GUI option to pecify the initialization source for attitude.

std::array< double, 3 >	_averagedAttitude
	Averaged Attitude (roll, pitch, yaw) in [rad].

double	_countAveragedAttitude
	Count of received attitude measurements.

Eigen::Vector3d	_e_initPosition
	Position in ECEF coordinates.

double	_initDuration
	Time in [s] to initialize the state.

InsTime	_initTime
	Initialization time.

gui::widgets::TimeEditFormat	_initTimeEditFormat
	Time Format to input the init time with.

int	_inputPinIdxGNSS
	Index of the input pin for GNSS observations.

int	_inputPinIdxIMU
	Index of the input pin for IMU observations.

std::array< double, 3 >	_lastPositionAccuracy
	Last position accuracy in [cm] for XYZ or NED.

std::array< double, 3 >	_lastVelocityAccuracy
	Last velocity accuracy in [cm/s] for XYZ or NED.

Eigen::Vector3d	_n_initVelocity
	Velocity in navigation coordinates.

Eigen::Quaterniond	_n_Quat_b_init
	Initialized Quaternion body to navigation frame (roll, pitch, yaw)

bool	_overridePosition
	Whether the GNSS values should be used or we want to override the values manually.

gui::widgets::PositionWithFrame	_overridePositionValue
	Values to override the Position in ECEF coordinates in [m].

std::array< bool, 3 >	_overrideRollPitchYaw
	Whether the IMU values should be used or we want to override the values manually.

std::array< double, 3 >	_overrideRollPitchYawValues
	Values to override Roll, Pitch and Yaw with in [deg].

VelocityOverride	_overrideVelocity
	Whether the GNSS values should be used or we want to override the values manually.

Eigen::Vector3d	_overrideVelocityValues
	Values to override the Velocity in [m/s].

double	_positionAccuracyThreshold
	Position Accuracy to achieve in [cm].

std::array< bool, 4 >	_posVelAttInitialized
	Whether the states are initialized (pos, vel, att, messages send)

uint64_t	_startTime
	Start time of the averageing process.

double	_velocityAccuracyThreshold
	Velocity Accuracy to achieve in [cm/s].

Static Private Attributes
static constexpr size_t	OUTPUT_PORT_INDEX_POS_VEL_ATT
	Flow (PosVelAtt)

Friends
constexpr const char *	to_string (PosVelAttInitializer::AttitudeMode attitudeMode)
	Converts the enum to a string.

constexpr const char *	to_string (PosVelAttInitializer::VelocityOverride velOverride)
	Converts the enum to a string.

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 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

Position, Velocity, Attitude Initializer from GPS and IMU data.

Member Enumeration Documentation

◆ AttitudeMode

enum class NAV::PosVelAttInitializer::AttitudeMode : uint8_t

strongprivate

Initialization source for attitude.

Enumerator
BOTH	Use IMU and GNSS Observations for attitude initialization.
IMU	Use IMU Observations for attitude initialization.
GNSS	Use GNSS Observations for attitude initialization.
COUNT	Amount of items in the enum.

◆ VelocityOverride

enum class NAV::PosVelAttInitializer::VelocityOverride : uint8_t

strongprivate

Override options for Position.

Enumerator
OFF	Do not override the values.
ECEF	Override with ECEF values.
NED	Override with NED values.
COUNT	Amount of items in the enum.

Member Function Documentation

◆ deinitialize()

void NAV::PosVelAttInitializer::deinitialize ( )

overrideprivatevirtual

Deinitialize the node.

Reimplemented from NAV::Node.

◆ guiConfig()

void NAV::PosVelAttInitializer::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.

◆ initialize()

bool NAV::PosVelAttInitializer::initialize ( )

overrideprivatevirtual

Initialize the node.

Reimplemented from NAV::Node.

◆ pollPVASolution()

std::shared_ptr< const NodeData > NAV::PosVelAttInitializer::pollPVASolution ( )

nodiscardprivate

Polls the PVA solution if all is set in the GUI.

Returns: The PVA solution

◆ receiveGnssObs()

void NAV::PosVelAttInitializer::receiveGnssObs	(	InputPin::NodeDataQueue &	queue,
		size_t	pinIdx )

private

Receive Gnss Observations.

Parameters

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

◆ receiveImuObs()

void NAV::PosVelAttInitializer::receiveImuObs	(	InputPin::NodeDataQueue &	queue,
		size_t	pinIdx )

private

Receive Imu Observations.

Parameters

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

◆ receivePosObs()

void NAV::PosVelAttInitializer::receivePosObs ( const std::shared_ptr< const Pos > & obs )

private

Receive Pos Observations.

Parameters

[in] obs Pos Data

◆ receivePosVelAttObs()

void NAV::PosVelAttInitializer::receivePosVelAttObs ( const std::shared_ptr< const PosVelAtt > & obs )

private

Receive PosVelAtt Observations.

Parameters

[in] obs PosVelAtt Data

◆ receivePosVelObs()

void NAV::PosVelAttInitializer::receivePosVelObs ( const std::shared_ptr< const PosVel > & obs )

private

Receive PosVel Observations.

Parameters

[in] obs PosVel Data

◆ receiveUbloxObs()

void NAV::PosVelAttInitializer::receiveUbloxObs ( const std::shared_ptr< const UbloxObs > & obs )

private

Receive Ublox Observations.

Parameters

[in] obs Ublox Data

◆ restore()

void NAV::PosVelAttInitializer::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.

◆ save()

json NAV::PosVelAttInitializer::save ( ) const

nodiscardoverridevirtual

Saves the node into a json object.

Reimplemented from NAV::Node.

◆ type()

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

nodiscardoverridevirtual

String representation of the Class Type.

Implements NAV::Node.

Friends And Related Symbol Documentation

◆ to_string [1/2]

const char * to_string ( PosVelAttInitializer::AttitudeMode attitudeMode )

friend

Converts the enum to a string.

Parameters

[in] attitudeMode Enum value to convert into text

Returns: String representation of the enum

◆ to_string [2/2]

const char * to_string ( PosVelAttInitializer::VelocityOverride velOverride )

friend

Converts the enum to a string.

Parameters

[in] velOverride Enum value to convert into text

Returns: String representation of the enum

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

/home/runner/work/INSTINCT/INSTINCT/src/Nodes/State/PosVelAttInitializer.hpp

Public Member Functions

Static Public Member Functions

Private Types

Private Member Functions

Private Attributes

Static Private Attributes

Friends

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ AttitudeMode

◆ VelocityOverride

Member Function Documentation

◆ deinitialize()

◆ guiConfig()

◆ initialize()

◆ pollPVASolution()

◆ receiveGnssObs()

◆ receiveImuObs()

◆ receivePosObs()

◆ receivePosVelAttObs()

◆ receivePosVelObs()

◆ receiveUbloxObs()

◆ restore()

◆ save()

◆ type()

Friends And Related Symbol Documentation

◆ to_string [1/2]

◆ to_string [2/2]