| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | // This file is part of INSTINCT, the INS Toolkit for Integrated | ||
| 2 | // Navigation Concepts and Training by the Institute of Navigation of | ||
| 3 | // the University of Stuttgart, Germany. | ||
| 4 | // | ||
| 5 | // This Source Code Form is subject to the terms of the Mozilla Public | ||
| 6 | // License, v. 2.0. If a copy of the MPL was not distributed with this | ||
| 7 | // file, You can obtain one at https://mozilla.org/MPL/2.0/. | ||
| 8 | |||
| 9 | #include "ImuIntegrator.hpp" | ||
| 10 | |||
| 11 | #include "util/Logger.hpp" | ||
| 12 | |||
| 13 | #include "NodeData/IMU/ImuObs.hpp" | ||
| 14 | #include "NodeData/IMU/ImuObsWDelta.hpp" | ||
| 15 | #include "NodeData/State/PosVelAtt.hpp" | ||
| 16 | |||
| 17 | #include "Navigation/Constants.hpp" | ||
| 18 | #include "Navigation/Math/Math.hpp" | ||
| 19 | |||
| 20 | #include "internal/gui/widgets/HelpMarker.hpp" | ||
| 21 | #include <imgui_internal.h> | ||
| 22 | |||
| 23 | #include "util/Eigen.hpp" | ||
| 24 | |||
| 25 | #include "NodeRegistry.hpp" | ||
| 26 | #include "internal/NodeManager.hpp" | ||
| 27 | namespace nm = NAV::NodeManager; | ||
| 28 | #include "internal/FlowManager.hpp" | ||
| 29 | |||
| 30 | #include <algorithm> | ||
| 31 | |||
| 32 | 113 | NAV::ImuIntegrator::ImuIntegrator() | |
| 33 |
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113 | : Node(typeStatic()) |
| 34 | { | ||
| 35 | LOG_TRACE("{}: called", name); | ||
| 36 | |||
| 37 | 113 | _hasConfig = true; | |
| 38 | 113 | _guiConfigDefaultWindowSize = { 422, 146 }; | |
| 39 | |||
| 40 |
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565 | nm::CreateInputPin(this, "ImuObs", Pin::Type::Flow, { NAV::ImuObs::type(), NAV::ImuObsWDelta::type() }, &ImuIntegrator::recvObservation, |
| 41 | ✗ | [](const Node* node, const InputPin& inputPin) { | |
| 42 | ✗ | const auto* imuIntegrator = static_cast<const ImuIntegrator*>(node); // NOLINT(cppcoreguidelines-pro-type-static-cast-downcast) | |
| 43 | ✗ | return !inputPin.queue.empty() && imuIntegrator->_inertialIntegrator.hasInitialPosition(); | |
| 44 | }); | ||
| 45 |
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339 | nm::CreateInputPin(this, "PosVelAttInit", Pin::Type::Flow, { NAV::PosVelAtt::type() }, &ImuIntegrator::recvPosVelAttInit, nullptr, 1); |
| 46 | |||
| 47 |
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452 | nm::CreateOutputPin(this, "PosVelAtt", Pin::Type::Flow, { NAV::PosVelAtt::type() }); |
| 48 | 452 | } | |
| 49 | |||
| 50 | 228 | NAV::ImuIntegrator::~ImuIntegrator() | |
| 51 | { | ||
| 52 | LOG_TRACE("{}: called", nameId()); | ||
| 53 | 228 | } | |
| 54 | |||
| 55 | 225 | std::string NAV::ImuIntegrator::typeStatic() | |
| 56 | { | ||
| 57 |
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450 | return "ImuIntegrator"; |
| 58 | } | ||
| 59 | |||
| 60 | ✗ | std::string NAV::ImuIntegrator::type() const | |
| 61 | { | ||
| 62 | ✗ | return typeStatic(); | |
| 63 | } | ||
| 64 | |||
| 65 | 112 | std::string NAV::ImuIntegrator::category() | |
| 66 | { | ||
| 67 |
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224 | return "Data Processor"; |
| 68 | } | ||
| 69 | |||
| 70 | ✗ | void NAV::ImuIntegrator::guiConfig() | |
| 71 | { | ||
| 72 | ✗ | if (InertialIntegratorGui(std::to_string(size_t(id)).c_str(), _inertialIntegrator, _preferAccelerationOverDeltaMeasurements)) | |
| 73 | { | ||
| 74 | ✗ | flow::ApplyChanges(); | |
| 75 | } | ||
| 76 | ✗ | } | |
| 77 | |||
| 78 | ✗ | [[nodiscard]] json NAV::ImuIntegrator::save() const | |
| 79 | { | ||
| 80 | LOG_TRACE("{}: called", nameId()); | ||
| 81 | |||
| 82 | ✗ | json j; | |
| 83 | |||
| 84 | ✗ | j["inertialIntegrator"] = _inertialIntegrator; | |
| 85 | ✗ | j["preferAccelerationOverDeltaMeasurements"] = _preferAccelerationOverDeltaMeasurements; | |
| 86 | |||
| 87 | ✗ | return j; | |
| 88 | ✗ | } | |
| 89 | |||
| 90 | 1 | void NAV::ImuIntegrator::restore(json const& j) | |
| 91 | { | ||
| 92 | LOG_TRACE("{}: called", nameId()); | ||
| 93 | |||
| 94 |
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1 | if (j.contains("inertialIntegrator")) |
| 95 | { | ||
| 96 | 1 | j.at("inertialIntegrator").get_to(_inertialIntegrator); | |
| 97 | } | ||
| 98 |
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1 | if (j.contains("preferAccelerationOverDeltaMeasurements")) |
| 99 | { | ||
| 100 | 1 | j.at("preferAccelerationOverDeltaMeasurements").get_to(_preferAccelerationOverDeltaMeasurements); | |
| 101 | } | ||
| 102 | 1 | } | |
| 103 | |||
| 104 | ✗ | bool NAV::ImuIntegrator::initialize() | |
| 105 | { | ||
| 106 | LOG_TRACE("{}: called", nameId()); | ||
| 107 | |||
| 108 | ✗ | _inertialIntegrator.reset(); | |
| 109 | |||
| 110 | ✗ | LOG_DEBUG("ImuIntegrator initialized"); | |
| 111 | |||
| 112 | ✗ | return true; | |
| 113 | } | ||
| 114 | |||
| 115 | ✗ | void NAV::ImuIntegrator::deinitialize() | |
| 116 | { | ||
| 117 | LOG_TRACE("{}: called", nameId()); | ||
| 118 | ✗ | } | |
| 119 | |||
| 120 | ✗ | void NAV::ImuIntegrator::recvObservation(NAV::InputPin::NodeDataQueue& queue, size_t /* pinIdx */) | |
| 121 | { | ||
| 122 | ✗ | auto nodeData = queue.extract_front(); | |
| 123 | ✗ | if (nodeData->insTime.empty()) | |
| 124 | { | ||
| 125 | ✗ | LOG_ERROR("{}: Can't set new imuObs__t0 because the observation has no time tag (insTime)", nameId()); | |
| 126 | ✗ | return; | |
| 127 | } | ||
| 128 | |||
| 129 | ✗ | std::shared_ptr<NAV::PosVelAtt> integratedPosVelAtt = nullptr; | |
| 130 | |||
| 131 | ✗ | if (!_preferAccelerationOverDeltaMeasurements | |
| 132 | ✗ | && NAV::NodeRegistry::NodeDataTypeAnyIsChildOf(inputPins.at(INPUT_PORT_INDEX_IMU_OBS).link.getConnectedPin()->dataIdentifier, { ImuObsWDelta::type() })) | |
| 133 | { | ||
| 134 | ✗ | auto obs = std::static_pointer_cast<const ImuObsWDelta>(nodeData); | |
| 135 | LOG_DATA("{}: recvImuObsWDelta at time [{}]", nameId(), obs->insTime.toYMDHMS()); | ||
| 136 | |||
| 137 | ✗ | integratedPosVelAtt = _inertialIntegrator.calcInertialSolutionDelta(obs->insTime, obs->dtime, obs->dvel, obs->dtheta, obs->imuPos, nameId().c_str()); | |
| 138 | ✗ | } | |
| 139 | else | ||
| 140 | { | ||
| 141 | ✗ | auto obs = std::static_pointer_cast<const ImuObs>(nodeData); | |
| 142 | LOG_DATA("{}: recvImuObs at time [{}]", nameId(), obs->insTime.toYMDHMS()); | ||
| 143 | |||
| 144 | ✗ | integratedPosVelAtt = _inertialIntegrator.calcInertialSolution(obs->insTime, obs->p_acceleration, obs->p_angularRate, obs->imuPos, nameId().c_str()); | |
| 145 | ✗ | } | |
| 146 | |||
| 147 | ✗ | if (integratedPosVelAtt) | |
| 148 | { | ||
| 149 | LOG_DATA("{}: e_position = {}", nameId(), integratedPosVelAtt->e_position().transpose()); | ||
| 150 | LOG_DATA("{}: e_velocity = {}", nameId(), integratedPosVelAtt->e_velocity().transpose()); | ||
| 151 | LOG_DATA("{}: rollPitchYaw = {}", nameId(), rad2deg(integratedPosVelAtt->rollPitchYaw()).transpose()); | ||
| 152 | ✗ | invokeCallbacks(OUTPUT_PORT_INDEX_INERTIAL_NAV_SOL, integratedPosVelAtt); | |
| 153 | } | ||
| 154 | ✗ | } | |
| 155 | |||
| 156 | ✗ | void NAV::ImuIntegrator::recvPosVelAttInit(NAV::InputPin::NodeDataQueue& queue, size_t /* pinIdx */) | |
| 157 | { | ||
| 158 | ✗ | auto posVelAtt = std::static_pointer_cast<const PosVelAtt>(queue.extract_front()); | |
| 159 | ✗ | inputPins[INPUT_PORT_INDEX_POS_VEL_ATT_INIT].queueBlocked = true; | |
| 160 | ✗ | inputPins[INPUT_PORT_INDEX_POS_VEL_ATT_INIT].queue.clear(); | |
| 161 | |||
| 162 | LOG_DATA("{}: recvPosVelAttInit at time [{}]", nameId(), posVelAtt->insTime.toYMDHMS()); | ||
| 163 | |||
| 164 | ✗ | if (!_inertialIntegrator.hasInitialPosition()) | |
| 165 | { | ||
| 166 | ✗ | _inertialIntegrator.setInitialState(*posVelAtt, nameId().c_str()); | |
| 167 | LOG_DATA("{}: e_position = {}", nameId(), posVelAtt->e_position().transpose()); | ||
| 168 | LOG_DATA("{}: e_velocity = {}", nameId(), posVelAtt->e_velocity().transpose()); | ||
| 169 | LOG_DATA("{}: rollPitchYaw = {}", nameId(), rad2deg(posVelAtt->rollPitchYaw()).transpose()); | ||
| 170 | |||
| 171 | ✗ | invokeCallbacks(OUTPUT_PORT_INDEX_INERTIAL_NAV_SOL, posVelAtt); | |
| 172 | } | ||
| 173 | ✗ | } | |
| 174 |