Numerically integrates Imu data. More...

Data Structures
struct	Device
	Device struct. More...

struct	State
	State estimated by the positioning algorithm. More...

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

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

WiFiPositioning &	operator= (WiFiPositioning &&)=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.

	WiFiPositioning ()
	Default constructor.

	WiFiPositioning (const WiFiPositioning &)=delete
	Copy constructor.

	WiFiPositioning (WiFiPositioning &&)=delete
	Move constructor.

	~WiFiPositioning () 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	Frame : uint8_t { ECEF , LLA }
	Available Frames. More...

enum class	InitCovarianceBiasUnit : uint8_t { meter2 , meter }
	Possible Units for the initial covariance for the bias (standard deviation σ or Variance σ²) More...

enum class	InitCovariancePositionUnit : uint8_t { meter2 , meter }
	Possible Units for the initial covariance for the position (standard deviation σ or Variance σ²) More...

enum class	InitCovarianceVelocityUnit : uint8_t { m2_s2 , m_s }
	Possible Units for the initial covariance for the velocity (standard deviation σ or Variance σ²) More...

enum class	MeasurementNoiseUnit : uint8_t { meter2 , meter }
	Possible Units for the measurement noise (standard deviation σ or Variance σ²) More...

enum class	ProcessNoiseUnit : uint8_t { meter2 , meter }
	Possible Units for the process noise (standard deviation σ or Variance σ²) More...

enum class	SolutionMode : uint8_t { LSQ , KF }
	Available Solution Modes. More...

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

bool	initialize () override
	Initialize the node.

void	kfSolution ()
	Calculate the position.

LeastSquaresResult< Eigen::VectorXd, Eigen::MatrixXd >	lsqSolution ()
	Calculate the position using the least squares method.

void	recvWiFiObs (InputPin::NodeDataQueue &queue, size_t pinIdx)
	Receive Function for the WiFi Observations.

void	updateNumberOfInputPins ()
	Adds/Deletes Input Pins depending on the variable _nNavInfoPins.

Private Attributes
std::vector< double >	_deviceBias
	Input of biases.

std::vector< std::string >	_deviceMacAddresses
	Input of mac addresses.

std::vector< Eigen::Vector3d >	_devicePositions
	Input of positions.

std::vector< Device >	_devices
	Devices which are used for the positioning.

std::vector< double >	_deviceScale
	Input of scales.

bool	_estimateBias
	Selection of whether the bias will be additionally estimated.

Frame	_frame
	Frame to calculate the position in.

double	_initCovarianceBias
	GUI selection of the initial covariance diagonal values for bias (standard deviation σ or Variance σ²)

InitCovarianceBiasUnit	_initCovarianceBiasUnit
	Gui selection for the Unit of the initial covariance for the bias.

Eigen::Vector3d	_initCovariancePosition
	GUI selection of the initial covariance diagonal values for position (standard deviation σ or Variance σ²)

InitCovariancePositionUnit	_initCovariancePositionUnit
	Gui selection for the Unit of the initial covariance for the position.

Eigen::Vector3d	_initCovarianceVelocity
	GUI selection of the initial covariance diagonal values for velocity (standard deviation σ or Variance σ²)

InitCovarianceVelocityUnit	_initCovarianceVelocityUnit
	Gui selection for the Unit of the initial covariance for the velocity.

State	_initialState
	Initial state.

KalmanFilter	_kalmanFilter
	Kalman Filter representation - States: 3xVel, 3xPos, (1xBias) - Measurements: 1xDist.

InsTime	_lastPredictTime
	Time when the last prediction was triggered.

double	_measurementNoise
	GUI selection of the process noise (standard deviation σ or Variance σ²)

MeasurementNoiseUnit	_measurementNoiseUnit
	Gui selection for the Unit of the initial covariance for the position.

uint8_t	_numMeasurements
	Number of measurements.

size_t	_numOfDevices
	Number of devices.

uint8_t	_numStates
	Number of states.

size_t	_nWifiInputPins
	Amount of wifi input pins.

double	_processNoise
	GUI selection of the process noise (standard deviation σ or Variance σ²)

ProcessNoiseUnit	_processNoiseUnit
	Gui selection for the Unit of the initial covariance for the position.

SolutionMode	_solutionMode
	Solution Mode.

State	_state
	State estimated by the algorithm.

bool	_useInitialValues
	Selection of whether the initial values should always be used or those of the last position.

bool	_weightedSolution
	Selection of whether the solution will be weighted.

Static Private Attributes
static constexpr size_t	INPUT_PORT_INDEX_WIFI_OBS
	WiFiObs.

static constexpr size_t	OUTPUT_PORT_INDEX_WIFISOL
	WiFiPositioningSolution.

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

Numerically integrates Imu data.

Definition at line 32 of file WiFiPositioning.hpp.

Member Enumeration Documentation

◆ Frame

enum class NAV::WiFiPositioning::Frame : uint8_t

strongprivate

Available Frames.

Enumerator
ECEF	Earth-Centered Earth-Fixed frame.
LLA	Latitude-Longitude-Altitude frame.

Definition at line 98 of file WiFiPositioning.hpp.

◆ InitCovarianceBiasUnit

enum class NAV::WiFiPositioning::InitCovarianceBiasUnit : uint8_t

strongprivate

Possible Units for the initial covariance for the bias (standard deviation σ or Variance σ²)

Enumerator
meter2	Variance [m^2].
meter	Standard deviation [m].

Definition at line 241 of file WiFiPositioning.hpp.

◆ InitCovariancePositionUnit

enum class NAV::WiFiPositioning::InitCovariancePositionUnit : uint8_t

strongprivate

Possible Units for the initial covariance for the position (standard deviation σ or Variance σ²)

Enumerator
meter2	Variance NED [m^2, m^2, m^2].
meter	Standard deviation NED [m, m, m].

Definition at line 213 of file WiFiPositioning.hpp.

◆ InitCovarianceVelocityUnit

enum class NAV::WiFiPositioning::InitCovarianceVelocityUnit : uint8_t

strongprivate

Possible Units for the initial covariance for the velocity (standard deviation σ or Variance σ²)

Enumerator
m2_s2	Variance [m^2/s^2].
m_s	Standard deviation [m/s].

Definition at line 227 of file WiFiPositioning.hpp.

◆ MeasurementNoiseUnit

enum class NAV::WiFiPositioning::MeasurementNoiseUnit : uint8_t

strongprivate

Possible Units for the measurement noise (standard deviation σ or Variance σ²)

Enumerator
meter2	Variance NED [m^2, m^2, m^2].
meter	Standard deviation NED [m, m, m].

Definition at line 185 of file WiFiPositioning.hpp.

◆ ProcessNoiseUnit

enum class NAV::WiFiPositioning::ProcessNoiseUnit : uint8_t

strongprivate

Possible Units for the process noise (standard deviation σ or Variance σ²)

Enumerator
meter2	Variance NED [m^2, m^2, m^2].
meter	Standard deviation NED [m, m, m].

Definition at line 199 of file WiFiPositioning.hpp.

◆ SolutionMode

enum class NAV::WiFiPositioning::SolutionMode : uint8_t

strongprivate

Available Solution Modes.

Enumerator
LSQ	Least Squares.
KF	Kalman Filter.

Definition at line 107 of file WiFiPositioning.hpp.

Constructor & Destructor Documentation

◆ WiFiPositioning() [1/3]

NAV::WiFiPositioning::WiFiPositioning ( )

Default constructor.

Definition at line 38 of file WiFiPositioning.cpp.

◆ ~WiFiPositioning()

NAV::WiFiPositioning::~WiFiPositioning ( )

override

Destructor.

Definition at line 51 of file WiFiPositioning.cpp.

◆ WiFiPositioning() [2/3]

NAV::WiFiPositioning::WiFiPositioning ( const WiFiPositioning & )

delete

Copy constructor.

◆ WiFiPositioning() [3/3]

NAV::WiFiPositioning::WiFiPositioning ( WiFiPositioning && )

delete

Move constructor.

Member Function Documentation

◆ category()

std::string NAV::WiFiPositioning::category ( )

staticnodiscard

String representation of the Class Category.

Definition at line 66 of file WiFiPositioning.cpp.

◆ deinitialize()

void NAV::WiFiPositioning::deinitialize ( )

overrideprivatevirtual

Deinitialize the node.

Reimplemented from NAV::Node.

Definition at line 774 of file WiFiPositioning.cpp.

◆ guiConfig()

void NAV::WiFiPositioning::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 71 of file WiFiPositioning.cpp.

◆ initialize()

bool NAV::WiFiPositioning::initialize ( )

overrideprivatevirtual

Initialize the node.

Reimplemented from NAV::Node.

Definition at line 698 of file WiFiPositioning.cpp.

◆ kfSolution()

void NAV::WiFiPositioning::kfSolution ( )

private

Calculate the position.

Definition at line 1011 of file WiFiPositioning.cpp.

◆ lsqSolution()

NAV::LeastSquaresResult< Eigen::VectorXd, Eigen::MatrixXd > NAV::WiFiPositioning::lsqSolution ( )

private

Calculate the position using the least squares method.

Returns: Least Squares solution

Definition at line 895 of file WiFiPositioning.cpp.

◆ operator=() [1/2]

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

delete

Copy assignment operator.

◆ operator=() [2/2]

WiFiPositioning & NAV::WiFiPositioning::operator= ( WiFiPositioning && )

delete

Move assignment operator.

◆ recvWiFiObs()

void NAV::WiFiPositioning::recvWiFiObs	(	InputPin::NodeDataQueue &	queue,
		size_t	pinIdx )

private

Receive Function for the WiFi 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 791 of file WiFiPositioning.cpp.

◆ restore()

void NAV::WiFiPositioning::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 575 of file WiFiPositioning.cpp.

◆ save()

json NAV::WiFiPositioning::save ( ) const

nodiscardoverridevirtual

Saves the node into a json object.

Reimplemented from NAV::Node.

Definition at line 536 of file WiFiPositioning.cpp.

◆ type()

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

nodiscardoverridevirtual

String representation of the Class Type.

Implements NAV::Node.

Definition at line 61 of file WiFiPositioning.cpp.

◆ typeStatic()

std::string NAV::WiFiPositioning::typeStatic ( )

staticnodiscard

String representation of the Class Type.

Definition at line 56 of file WiFiPositioning.cpp.

◆ updateNumberOfInputPins()

void NAV::WiFiPositioning::updateNumberOfInputPins ( )

private

Adds/Deletes Input Pins depending on the variable _nNavInfoPins.

Definition at line 779 of file WiFiPositioning.cpp.

Field Documentation

◆ _deviceBias

std::vector<double> NAV::WiFiPositioning::_deviceBias

private

Input of biases.

Definition at line 148 of file WiFiPositioning.hpp.

◆ _deviceMacAddresses

std::vector<std::string> NAV::WiFiPositioning::_deviceMacAddresses

private

Input of mac addresses.

Definition at line 142 of file WiFiPositioning.hpp.

◆ _devicePositions

std::vector<Eigen::Vector3d> NAV::WiFiPositioning::_devicePositions

private

Input of positions.

Definition at line 145 of file WiFiPositioning.hpp.

◆ _devices

std::vector<Device> NAV::WiFiPositioning::_devices

private

Devices which are used for the positioning.

Definition at line 165 of file WiFiPositioning.hpp.

◆ _deviceScale

std::vector<double> NAV::WiFiPositioning::_deviceScale

private

Input of scales.

Definition at line 151 of file WiFiPositioning.hpp.

◆ _estimateBias

bool NAV::WiFiPositioning::_estimateBias

private

Selection of whether the bias will be additionally estimated.

Definition at line 116 of file WiFiPositioning.hpp.

◆ _frame

Frame NAV::WiFiPositioning::_frame

private

Frame to calculate the position in.

Definition at line 104 of file WiFiPositioning.hpp.

◆ _initCovarianceBias

double NAV::WiFiPositioning::_initCovarianceBias

private

GUI selection of the initial covariance diagonal values for bias (standard deviation σ or Variance σ²)

Definition at line 250 of file WiFiPositioning.hpp.

◆ _initCovarianceBiasUnit

InitCovarianceBiasUnit NAV::WiFiPositioning::_initCovarianceBiasUnit

private

Gui selection for the Unit of the initial covariance for the bias.

Definition at line 247 of file WiFiPositioning.hpp.

◆ _initCovariancePosition

Eigen::Vector3d NAV::WiFiPositioning::_initCovariancePosition

private

GUI selection of the initial covariance diagonal values for position (standard deviation σ or Variance σ²)

Definition at line 222 of file WiFiPositioning.hpp.

◆ _initCovariancePositionUnit

InitCovariancePositionUnit NAV::WiFiPositioning::_initCovariancePositionUnit

private

Gui selection for the Unit of the initial covariance for the position.

Definition at line 219 of file WiFiPositioning.hpp.

◆ _initCovarianceVelocity

Eigen::Vector3d NAV::WiFiPositioning::_initCovarianceVelocity

private

GUI selection of the initial covariance diagonal values for velocity (standard deviation σ or Variance σ²)

Definition at line 236 of file WiFiPositioning.hpp.

◆ _initCovarianceVelocityUnit

InitCovarianceVelocityUnit NAV::WiFiPositioning::_initCovarianceVelocityUnit

private

Gui selection for the Unit of the initial covariance for the velocity.

Definition at line 233 of file WiFiPositioning.hpp.

◆ _initialState

State NAV::WiFiPositioning::_initialState

private

Initial state.

Definition at line 139 of file WiFiPositioning.hpp.

◆ _kalmanFilter

KalmanFilter NAV::WiFiPositioning::_kalmanFilter

private

Kalman Filter representation - States: 3xVel, 3xPos, (1xBias) - Measurements: 1xDist.

Definition at line 79 of file WiFiPositioning.hpp.

◆ _lastPredictTime

InsTime NAV::WiFiPositioning::_lastPredictTime

private

Time when the last prediction was triggered.

Definition at line 168 of file WiFiPositioning.hpp.

◆ _measurementNoise

double NAV::WiFiPositioning::_measurementNoise

private

GUI selection of the process noise (standard deviation σ or Variance σ²)

Definition at line 194 of file WiFiPositioning.hpp.

◆ _measurementNoiseUnit

MeasurementNoiseUnit NAV::WiFiPositioning::_measurementNoiseUnit

private

Gui selection for the Unit of the initial covariance for the position.

Definition at line 191 of file WiFiPositioning.hpp.

◆ _numMeasurements

uint8_t NAV::WiFiPositioning::_numMeasurements

private

Number of measurements.

Definition at line 76 of file WiFiPositioning.hpp.

◆ _numOfDevices

size_t NAV::WiFiPositioning::_numOfDevices

private

Number of devices.

Definition at line 154 of file WiFiPositioning.hpp.

◆ _numStates

uint8_t NAV::WiFiPositioning::_numStates

private

Number of states.

Definition at line 73 of file WiFiPositioning.hpp.

◆ _nWifiInputPins

size_t NAV::WiFiPositioning::_nWifiInputPins

private

Amount of wifi input pins.

Definition at line 90 of file WiFiPositioning.hpp.

◆ _processNoise

double NAV::WiFiPositioning::_processNoise

private

GUI selection of the process noise (standard deviation σ or Variance σ²)

Definition at line 208 of file WiFiPositioning.hpp.

◆ _processNoiseUnit

ProcessNoiseUnit NAV::WiFiPositioning::_processNoiseUnit

private

Gui selection for the Unit of the initial covariance for the position.

Definition at line 205 of file WiFiPositioning.hpp.

◆ _solutionMode

SolutionMode NAV::WiFiPositioning::_solutionMode

private

Solution Mode.

Definition at line 113 of file WiFiPositioning.hpp.

◆ _state

State NAV::WiFiPositioning::_state

private

State estimated by the algorithm.

Definition at line 136 of file WiFiPositioning.hpp.

◆ _useInitialValues

bool NAV::WiFiPositioning::_useInitialValues

private

Selection of whether the initial values should always be used or those of the last position.

Definition at line 122 of file WiFiPositioning.hpp.

◆ _weightedSolution

bool NAV::WiFiPositioning::_weightedSolution

private

Selection of whether the solution will be weighted.

Definition at line 119 of file WiFiPositioning.hpp.

◆ INPUT_PORT_INDEX_WIFI_OBS

size_t NAV::WiFiPositioning::INPUT_PORT_INDEX_WIFI_OBS

staticconstexprprivate

WiFiObs.

Definition at line 69 of file WiFiPositioning.hpp.

◆ OUTPUT_PORT_INDEX_WIFISOL

size_t NAV::WiFiPositioning::OUTPUT_PORT_INDEX_WIFISOL

staticconstexprprivate

WiFiPositioningSolution.

Definition at line 70 of file WiFiPositioning.hpp.

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

/home/runner/work/INSTINCT/INSTINCT/src/Nodes/DataProcessor/WiFi/WiFiPositioning.hpp
/home/runner/work/INSTINCT/INSTINCT/src/Nodes/DataProcessor/WiFi/WiFiPositioning.cpp

Data Structures

Public Member Functions

Static Public Member Functions

Private Types

Private Member Functions

Private Attributes

Static Private Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ Frame

◆ InitCovarianceBiasUnit

◆ InitCovariancePositionUnit

◆ InitCovarianceVelocityUnit

◆ MeasurementNoiseUnit

◆ ProcessNoiseUnit

◆ SolutionMode

Constructor & Destructor Documentation

◆ WiFiPositioning() [1/3]

◆ ~WiFiPositioning()

◆ WiFiPositioning() [2/3]

◆ WiFiPositioning() [3/3]

Member Function Documentation

◆ category()

◆ deinitialize()

◆ guiConfig()

◆ initialize()

◆ kfSolution()

◆ lsqSolution()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ recvWiFiObs()

◆ restore()

◆ save()

◆ type()

◆ typeStatic()

◆ updateNumberOfInputPins()

Field Documentation

◆ _deviceBias

◆ _deviceMacAddresses

◆ _devicePositions

◆ _devices

◆ _deviceScale

◆ _estimateBias

◆ _frame

◆ _initCovarianceBias

◆ _initCovarianceBiasUnit

◆ _initCovariancePosition

◆ _initCovariancePositionUnit

◆ _initCovarianceVelocity

◆ _initCovarianceVelocityUnit

◆ _initialState

◆ _kalmanFilter

◆ _lastPredictTime

◆ _measurementNoise

◆ _measurementNoiseUnit

◆ _numMeasurements

◆ _numOfDevices

◆ _numStates

◆ _nWifiInputPins

◆ _processNoise

◆ _processNoiseUnit

◆ _solutionMode

◆ _state

◆ _useInitialValues

◆ _weightedSolution

◆ INPUT_PORT_INDEX_WIFI_OBS

◆ OUTPUT_PORT_INDEX_WIFISOL