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.

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 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)

InsTime	_startTime
	Start time of the averaging 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...

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

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

Definition at line 33 of file PosVelAttInitializer.hpp.

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.

Definition at line 126 of file PosVelAttInitializer.hpp.

◆ 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.

Definition at line 155 of file PosVelAttInitializer.hpp.

Constructor & Destructor Documentation

◆ PosVelAttInitializer() [1/3]

NAV::PosVelAttInitializer::PosVelAttInitializer ( )

Default constructor.

Definition at line 34 of file PosVelAttInitializer.cpp.

◆ ~PosVelAttInitializer()

NAV::PosVelAttInitializer::~PosVelAttInitializer ( )

override

Destructor.

Definition at line 47 of file PosVelAttInitializer.cpp.

◆ PosVelAttInitializer() [2/3]

NAV::PosVelAttInitializer::PosVelAttInitializer ( const PosVelAttInitializer & )

delete

Copy constructor.

◆ PosVelAttInitializer() [3/3]

NAV::PosVelAttInitializer::PosVelAttInitializer ( PosVelAttInitializer && )

delete

Move constructor.

Member Function Documentation

◆ category()

std::string NAV::PosVelAttInitializer::category ( )

staticnodiscard

String representation of the Class Category.

Definition at line 62 of file PosVelAttInitializer.cpp.

◆ deinitialize()

void NAV::PosVelAttInitializer::deinitialize ( )

overrideprivatevirtual

Deinitialize the node.

Reimplemented from NAV::Node.

Definition at line 492 of file PosVelAttInitializer.cpp.

◆ finalizeInit()

void NAV::PosVelAttInitializer::finalizeInit ( )

private

Checks whether all Flags are set and writes logs messages.

Definition at line 542 of file PosVelAttInitializer.cpp.

◆ 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.

Definition at line 67 of file PosVelAttInitializer.cpp.

◆ initialize()

bool NAV::PosVelAttInitializer::initialize ( )

overrideprivatevirtual

Initialize the node.

Reimplemented from NAV::Node.

Definition at line 466 of file PosVelAttInitializer.cpp.

◆ operator=() [1/2]

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

delete

Copy assignment operator.

◆ operator=() [2/2]

PosVelAttInitializer & NAV::PosVelAttInitializer::operator= ( PosVelAttInitializer && )

delete

Move assignment operator.

◆ pollPVASolution()

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

nodiscardprivate

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

Returns: The PVA solution

Definition at line 818 of file PosVelAttInitializer.cpp.

◆ 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

Definition at line 677 of file PosVelAttInitializer.cpp.

◆ 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

Definition at line 615 of file PosVelAttInitializer.cpp.

◆ receivePosObs()

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

private

Receive Pos Observations.

Parameters

[in] obs Pos Data

Definition at line 777 of file PosVelAttInitializer.cpp.

◆ receivePosVelAttObs()

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

private

Receive PosVelAtt Observations.

Parameters

[in] obs PosVelAtt Data

Definition at line 793 of file PosVelAttInitializer.cpp.

◆ receivePosVelObs()

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

private

Receive PosVel Observations.

Parameters

[in] obs PosVel Data

Definition at line 784 of file PosVelAttInitializer.cpp.

◆ receiveUbloxObs()

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

private

Receive Ublox Observations.

Parameters

[in] obs Ublox Data

Definition at line 706 of file PosVelAttInitializer.cpp.

◆ 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.

Definition at line 411 of file PosVelAttInitializer.cpp.

◆ save()

json NAV::PosVelAttInitializer::save ( ) const

nodiscardoverridevirtual

Saves the node into a json object.

Reimplemented from NAV::Node.

Definition at line 389 of file PosVelAttInitializer.cpp.

◆ type()

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

nodiscardoverridevirtual

String representation of the Class Type.

Implements NAV::Node.

Definition at line 57 of file PosVelAttInitializer.cpp.

◆ typeStatic()

std::string NAV::PosVelAttInitializer::typeStatic ( )

staticnodiscard

String representation of the Class Type.

Definition at line 52 of file PosVelAttInitializer.cpp.

◆ updatePins()

void NAV::PosVelAttInitializer::updatePins ( )

private

Add or removes input pins depending on the settings and modifies the output pin.

Definition at line 497 of file PosVelAttInitializer.cpp.

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

Definition at line 207 of file PosVelAttInitializer.hpp.

◆ 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

Definition at line 226 of file PosVelAttInitializer.hpp.

Field Documentation

◆ _attitudeMode

AttitudeMode NAV::PosVelAttInitializer::_attitudeMode

private

GUI option to pecify the initialization source for attitude.

Definition at line 140 of file PosVelAttInitializer.hpp.

◆ _averagedAttitude

std::array<double, 3> NAV::PosVelAttInitializer::_averagedAttitude

private

Averaged Attitude (roll, pitch, yaw) in [rad].

Definition at line 182 of file PosVelAttInitializer.hpp.

◆ _countAveragedAttitude

double NAV::PosVelAttInitializer::_countAveragedAttitude

private

Count of received attitude measurements.

Definition at line 180 of file PosVelAttInitializer.hpp.

◆ _e_initPosition

Eigen::Vector3d NAV::PosVelAttInitializer::_e_initPosition

private

Position in ECEF coordinates.

Definition at line 199 of file PosVelAttInitializer.hpp.

◆ _initDuration

double NAV::PosVelAttInitializer::_initDuration

private

Time in [s] to initialize the state.

Definition at line 120 of file PosVelAttInitializer.hpp.

◆ _initTime

InsTime NAV::PosVelAttInitializer::_initTime

private

Initialization time.

Definition at line 195 of file PosVelAttInitializer.hpp.

◆ _initTimeEditFormat

gui::widgets::TimeEditFormat NAV::PosVelAttInitializer::_initTimeEditFormat

private

Time Format to input the init time with.

Definition at line 192 of file PosVelAttInitializer.hpp.

◆ _inputPinIdxGNSS

int NAV::PosVelAttInitializer::_inputPinIdxGNSS

private

Index of the input pin for GNSS observations.

Definition at line 75 of file PosVelAttInitializer.hpp.

◆ _inputPinIdxIMU

int NAV::PosVelAttInitializer::_inputPinIdxIMU

private

Index of the input pin for IMU observations.

Definition at line 73 of file PosVelAttInitializer.hpp.

◆ _lastPositionAccuracy

std::array<double, 3> NAV::PosVelAttInitializer::_lastPositionAccuracy

private

Last position accuracy in [cm] for XYZ or NED.

Definition at line 150 of file PosVelAttInitializer.hpp.

◆ _lastVelocityAccuracy

std::array<double, 3> NAV::PosVelAttInitializer::_lastVelocityAccuracy

private

Last velocity accuracy in [cm/s] for XYZ or NED.

Definition at line 175 of file PosVelAttInitializer.hpp.

◆ _n_initVelocity

Eigen::Vector3d NAV::PosVelAttInitializer::_n_initVelocity

private

Velocity in navigation coordinates.

Definition at line 201 of file PosVelAttInitializer.hpp.

◆ _n_Quat_b_init

Eigen::Quaterniond NAV::PosVelAttInitializer::_n_Quat_b_init

private

Initialized Quaternion body to navigation frame (roll, pitch, yaw)

Definition at line 197 of file PosVelAttInitializer.hpp.

◆ _overridePosition

bool NAV::PosVelAttInitializer::_overridePosition

private

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

Definition at line 143 of file PosVelAttInitializer.hpp.

◆ _overridePositionValue

gui::widgets::PositionWithFrame NAV::PosVelAttInitializer::_overridePositionValue

private

Values to override the Position in ECEF coordinates in [m].

Definition at line 145 of file PosVelAttInitializer.hpp.

◆ _overrideRollPitchYaw

std::array<bool, 3> NAV::PosVelAttInitializer::_overrideRollPitchYaw

private

Whether the IMU values should be used or we want to override the values manually.

Definition at line 184 of file PosVelAttInitializer.hpp.

◆ _overrideRollPitchYawValues

std::array<double, 3> NAV::PosVelAttInitializer::_overrideRollPitchYawValues

private

Values to override Roll, Pitch and Yaw with in [deg].

Definition at line 186 of file PosVelAttInitializer.hpp.

◆ _overrideVelocity

VelocityOverride NAV::PosVelAttInitializer::_overrideVelocity

private

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

Definition at line 169 of file PosVelAttInitializer.hpp.

◆ _overrideVelocityValues

Eigen::Vector3d NAV::PosVelAttInitializer::_overrideVelocityValues

private

Values to override the Velocity in [m/s].

Definition at line 171 of file PosVelAttInitializer.hpp.

◆ _positionAccuracyThreshold

double NAV::PosVelAttInitializer::_positionAccuracyThreshold

private

Position Accuracy to achieve in [cm].

Definition at line 148 of file PosVelAttInitializer.hpp.

◆ _posVelAttInitialized

std::array<bool, 4> NAV::PosVelAttInitializer::_posVelAttInitialized

private

Whether the states are initialized (pos, vel, att, messages send)

Definition at line 189 of file PosVelAttInitializer.hpp.

◆ _startTime

InsTime NAV::PosVelAttInitializer::_startTime

private

Start time of the averaging process.

Definition at line 123 of file PosVelAttInitializer.hpp.

◆ _velocityAccuracyThreshold

double NAV::PosVelAttInitializer::_velocityAccuracyThreshold

private

Velocity Accuracy to achieve in [cm/s].

Definition at line 173 of file PosVelAttInitializer.hpp.

◆ OUTPUT_PORT_INDEX_POS_VEL_ATT

size_t NAV::PosVelAttInitializer::OUTPUT_PORT_INDEX_POS_VEL_ATT

staticconstexprprivate

Flow (PosVelAtt)

Definition at line 70 of file PosVelAttInitializer.hpp.

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

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

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

Constructor & Destructor Documentation

◆ PosVelAttInitializer() [1/3]

◆ ~PosVelAttInitializer()

◆ PosVelAttInitializer() [2/3]

◆ PosVelAttInitializer() [3/3]

Member Function Documentation

◆ category()

◆ deinitialize()

◆ finalizeInit()

◆ guiConfig()

◆ initialize()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ pollPVASolution()

◆ receiveGnssObs()

◆ receiveImuObs()

◆ receivePosObs()

◆ receivePosVelAttObs()

◆ receivePosVelObs()

◆ receiveUbloxObs()

◆ restore()

◆ save()

◆ type()

◆ typeStatic()

◆ updatePins()

Friends And Related Symbol Documentation

◆ to_string [1/2]

◆ to_string [2/2]

Field Documentation

◆ _attitudeMode

◆ _averagedAttitude

◆ _countAveragedAttitude

◆ _e_initPosition

◆ _initDuration

◆ _initTime

◆ _initTimeEditFormat

◆ _inputPinIdxGNSS

◆ _inputPinIdxIMU

◆ _lastPositionAccuracy

◆ _lastVelocityAccuracy

◆ _n_initVelocity

◆ _n_Quat_b_init

◆ _overridePosition

◆ _overridePositionValue

◆ _overrideRollPitchYaw

◆ _overrideRollPitchYawValues

◆ _overrideVelocity

◆ _overrideVelocityValues

◆ _positionAccuracyThreshold

◆ _posVelAttInitialized

◆ _startTime

◆ _velocityAccuracyThreshold

◆ OUTPUT_PORT_INDEX_POS_VEL_ATT