Node performing an ARMA filtering of incoming data. More...

Public Member Functions
	ARMA ()
	Default constructor.

	ARMA (ARMA &&)=delete
	Move constructor.

	ARMA (const ARMA &)=delete
	Copy constructor.

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

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

ARMA &	operator= (const ARMA &)=delete
	Copy 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.

	~ARMA () 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 Member Functions
void	deinitialize () override
	Deinitialize the node.

bool	initialize () override
	Initialize the node.

void	receiveImuObs (InputPin::NodeDataQueue &queue, size_t pinIdx)
	Receive Sensor Data.

Static Private Member Functions
static void	acf_function (Eigen::VectorXd &y, int p, Eigen::VectorXd &acf)
	calculate autocorrelation function (ACF)

static void	hannan_rissanen (Eigen::VectorXd &y, int p, int q, int m, int deque_size, Eigen::VectorXd &x, Eigen::VectorXd &emp_sig, Eigen::VectorXd &y_hat)
	Calculate ARMA parameters through Hannan-Rissanen.

static void	matrix_function (Eigen::VectorXd &y, Eigen::VectorXd &e_hat, int p, int q, int m, Eigen::MatrixXd &A)
	fill A matrix for least squares

static void	pacf_function (Eigen::VectorXd &y, Eigen::VectorXd &acf, int p, Eigen::VectorXd &pacf, Eigen::VectorXd &e_hat_initial)
	calculate partial autocorrelation function (PACF) via Durbin-Levinson

Private Attributes
std::deque< std::shared_ptr< const ImuObs > >	_buffer
	Buffer used to store Imu observations.

int	_deque_size
	modelling size

Eigen::VectorXd	_emp_sig
	empirical significance (p-Value) of parameters

int	_k
	loop iterator

int	_m
	value of superior order (p or q)

int	_num_obs
	number of observations (3-axis accelerometer / 3-axis gyro)

int	_p
	AR order.

int	_p_mem
	p memory to reset for each observation

int	_q
	MA order.

int	_q_mem
	q memory to reset for each observation

Eigen::VectorXd	_x
	ARMA slope parameters.

Eigen::MatrixXd	_y
	measurement data

Eigen::VectorXd	_y_hat
	ARMA estimates for y_rbm.

Eigen::VectorXd	_y_hat_t
	output container

double	_y_mean
	y-mean

Eigen::VectorXd	_y_rbm
	y (reduced by mean)

bool	INITIALIZE
	parameter initialization indicator

Static Private Attributes
static constexpr size_t	INPUT_PORT_INDEX_IMU_OBS
	Flow (ImuObs)

static constexpr size_t	OUTPUT_PORT_INDEX_IMU_OBS
	Flow (ImuObs)

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

Node performing an ARMA filtering of incoming data.

Member Function Documentation

◆ acf_function()

static void NAV::experimental::ARMA::acf_function	(	Eigen::VectorXd &	y,
		int	p,
		Eigen::VectorXd &	acf )

staticprivate

calculate autocorrelation function (ACF)

Parameters

[in]	y	vector of data
[in]	p	order of AR process
[out]	acf	vector of acf values

◆ deinitialize()

void NAV::experimental::ARMA::deinitialize ( )

overrideprivatevirtual

Deinitialize the node.

Reimplemented from NAV::Node.

◆ guiConfig()

void NAV::experimental::ARMA::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.

◆ hannan_rissanen()

static void NAV::experimental::ARMA::hannan_rissanen	(	Eigen::VectorXd &	y,
		int	p,
		int	q,
		int	m,
		int	deque_size,
		Eigen::VectorXd &	x,
		Eigen::VectorXd &	emp_sig,
		Eigen::VectorXd &	y_hat )

staticprivate

Calculate ARMA parameters through Hannan-Rissanen.

Parameters

[in]	y	vector of data
[in]	p	order of AR process
[in]	q	order of MA process
[in]	m	value of superior order (p or q)
[in]	deque_size	Size of the deque
[out]	x	ARMA slope parameters
[out]	emp_sig	Empirical significance (p-Value) of parameters
[out]	y_hat	Output measurement data

◆ initialize()

bool NAV::experimental::ARMA::initialize ( )

overrideprivatevirtual

Initialize the node.

Reimplemented from NAV::Node.

◆ matrix_function()

static void NAV::experimental::ARMA::matrix_function	(	Eigen::VectorXd &	y,
		Eigen::VectorXd &	e_hat,
		int	p,
		int	q,
		int	m,
		Eigen::MatrixXd &	A )

staticprivate

fill A matrix for least squares

Parameters

[in]	y	vector of data
[in]	e_hat	residuals
[in]	p	order of AR process
[in]	q	order of MA process
[in]	m	value of superior order (p or q)
[out]	A	Returns the matrix filled with least squares

◆ pacf_function()

static void NAV::experimental::ARMA::pacf_function	(	Eigen::VectorXd &	y,
		Eigen::VectorXd &	acf,
		int	p,
		Eigen::VectorXd &	pacf,
		Eigen::VectorXd &	e_hat_initial )

staticprivate

calculate partial autocorrelation function (PACF) via Durbin-Levinson

Parameters

[in]	y	vector of data
[in]	acf	vector of acf
[in]	p	order of AR process
[out]	pacf	vector of pacf values
[out]	e_hat_initial	vector of initial ê for Hannan-Rissanen

◆ receiveImuObs()

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

private

Receive Sensor Data.

Parameters

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

◆ restore()

void NAV::experimental::ARMA::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::experimental::ARMA::save ( ) const

nodiscardoverridevirtual

Saves the node into a json object.

Reimplemented from NAV::Node.

◆ type()

std::string NAV::experimental::ARMA::type ( ) const

nodiscardoverridevirtual

String representation of the Class Type.

Implements NAV::Node.

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

/home/runner/work/INSTINCT/INSTINCT/src/Nodes/Experimental/DataProcessor/ARMA.hpp

Public Member Functions

Static Public Member Functions

Private Member Functions

Static Private Member Functions

Private Attributes

Static Private Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ acf_function()

◆ deinitialize()

◆ guiConfig()

◆ hannan_rissanen()

◆ initialize()

◆ matrix_function()

◆ pacf_function()

◆ receiveImuObs()

◆ restore()

◆ save()

◆ type()