| 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 "LowPassFilter.hpp" | ||
| 10 | |||
| 11 | #include "NodeRegistry.hpp" | ||
| 12 | #include <algorithm> | ||
| 13 | #include <imgui.h> | ||
| 14 | #include "Navigation/INS/Units.hpp" | ||
| 15 | #include "internal/FlowManager.hpp" | ||
| 16 | |||
| 17 | #include "NodeData/IMU/ImuObsSimulated.hpp" | ||
| 18 | #include "NodeData/IMU/ImuObsWDelta.hpp" | ||
| 19 | |||
| 20 | #include "internal/gui/widgets/HelpMarker.hpp" | ||
| 21 | #include "internal/gui/widgets/imgui_ex.hpp" | ||
| 22 | #include "internal/gui/widgets/InputWithUnit.hpp" | ||
| 23 | #include "internal/gui/NodeEditorApplication.hpp" | ||
| 24 | |||
| 25 | #include "Navigation/Transformations/CoordinateFrames.hpp" | ||
| 26 | #include "Navigation/Transformations/Units.hpp" | ||
| 27 | #include "Navigation/GNSS/Functions.hpp" | ||
| 28 | |||
| 29 | #include "util/Eigen.hpp" | ||
| 30 | #include "util/StringUtil.hpp" | ||
| 31 | #include "util/Logger.hpp" | ||
| 32 | |||
| 33 | #include <imgui_internal.h> | ||
| 34 | #include <limits> | ||
| 35 | #include <set> | ||
| 36 | #include <type_traits> | ||
| 37 | |||
| 38 | 114 | NAV::LowPassFilter::LowPassFilter() | |
| 39 |
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114 | : Node(typeStatic()) |
| 40 | { | ||
| 41 | LOG_TRACE("{}: called", name); | ||
| 42 | 114 | _hasConfig = true; | |
| 43 | 114 | _guiConfigDefaultWindowSize = { 500, 300 }; | |
| 44 | |||
| 45 |
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342 | CreateInputPin("Original", Pin::Type::Flow, { NAV::NodeData::type() }, &LowPassFilter::receiveObs); |
| 46 | |||
| 47 |
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456 | CreateOutputPin("Filtered", Pin::Type::Flow, { NAV::NodeData::type() }); |
| 48 | 342 | } | |
| 49 | |||
| 50 | 228 | NAV::LowPassFilter::~LowPassFilter() | |
| 51 | { | ||
| 52 | LOG_TRACE("{}: called", nameId()); | ||
| 53 | 228 | } | |
| 54 | |||
| 55 | 228 | std::string NAV::LowPassFilter::typeStatic() | |
| 56 | { | ||
| 57 |
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456 | return "LowPassFilter"; |
| 58 | } | ||
| 59 | |||
| 60 | ✗ | std::string NAV::LowPassFilter::type() const | |
| 61 | { | ||
| 62 | ✗ | return typeStatic(); | |
| 63 | } | ||
| 64 | |||
| 65 | 114 | std::string NAV::LowPassFilter::category() | |
| 66 | { | ||
| 67 |
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228 | return "Data Processor"; |
| 68 | } | ||
| 69 | |||
| 70 | ✗ | void NAV::LowPassFilter::guiConfig() | |
| 71 | { | ||
| 72 | ✗ | if (outputPins.at(OUTPUT_PORT_INDEX_FLOW).dataIdentifier.size() != 1) | |
| 73 | { | ||
| 74 | ✗ | ImGui::TextUnformatted("Please connect the input pin to show the options"); | |
| 75 | ✗ | return; | |
| 76 | } | ||
| 77 | |||
| 78 | ✗ | ImGui::SetNextItemWidth(400.0F * gui::NodeEditorApplication::defaultFontRatio()); | |
| 79 | |||
| 80 | ✗ | if (_gui_availableItemsSelection > _availableItems.size()) { _gui_availableItemsSelection = _availableItems.size() - (_availableItems.empty() ? 0 : 1); } | |
| 81 | ✗ | bool noMoreItems = _filterItems.size() == _availableItems.size(); | |
| 82 | ✗ | if (noMoreItems) { ImGui::BeginDisabled(); } | |
| 83 | ✗ | if (ImGui::BeginCombo(fmt::format("##Available data combo {}", size_t(id)).c_str(), !_availableItems.empty() ? _availableItems.at(_gui_availableItemsSelection).c_str() : "")) | |
| 84 | { | ||
| 85 | ✗ | for (size_t i = 0; i < _availableItems.size(); i++) | |
| 86 | { | ||
| 87 | ✗ | const auto& item = _availableItems.at(i); | |
| 88 | ✗ | if (std::ranges::find_if(_filterItems, [&](const FilterItem& filterItem) { | |
| 89 | ✗ | return filterItem.dataDescription == item; | |
| 90 | }) | ||
| 91 | ✗ | != _filterItems.end()) { continue; } | |
| 92 | |||
| 93 | ✗ | const bool is_selected = (_gui_availableItemsSelection == i); | |
| 94 | ✗ | if (ImGui::Selectable(item.c_str(), is_selected)) | |
| 95 | { | ||
| 96 | ✗ | _gui_availableItemsSelection = i; | |
| 97 | } | ||
| 98 | ✗ | if (is_selected) // Set the initial focus when opening the combo (scrolling + keyboard navigation focus) | |
| 99 | { | ||
| 100 | ✗ | ImGui::SetItemDefaultFocus(); | |
| 101 | } | ||
| 102 | } | ||
| 103 | ✗ | ImGui::EndCombo(); | |
| 104 | } | ||
| 105 | ✗ | ImGui::SameLine(); | |
| 106 | ✗ | if (ImGui::Button(fmt::format("Add##Filter item {}", size_t(id)).c_str())) | |
| 107 | { | ||
| 108 | ✗ | _filterItems.emplace_back(_availableItems.at(_gui_availableItemsSelection), _gui_availableItemsSelection); | |
| 109 | ✗ | flow::ApplyChanges(); | |
| 110 | ✗ | bool selectionChanged = false; | |
| 111 | ✗ | for (size_t i = _gui_availableItemsSelection + 1; i < _availableItems.size(); i++) | |
| 112 | { | ||
| 113 | ✗ | const auto& item = _availableItems.at(i); | |
| 114 | ✗ | if (std::ranges::find_if(_filterItems, [&](const FilterItem& filterItem) { | |
| 115 | ✗ | return filterItem.dataDescription == item; | |
| 116 | }) | ||
| 117 | ✗ | != _filterItems.end()) { continue; } | |
| 118 | |||
| 119 | ✗ | _gui_availableItemsSelection = i; | |
| 120 | ✗ | selectionChanged = true; | |
| 121 | ✗ | break; | |
| 122 | } | ||
| 123 | ✗ | if (!selectionChanged && _gui_availableItemsSelection != 0) | |
| 124 | { | ||
| 125 | ✗ | for (int i = static_cast<int>(_gui_availableItemsSelection) - 1; i >= 0; i--) | |
| 126 | { | ||
| 127 | ✗ | const auto& item = _availableItems.at(static_cast<size_t>(i)); | |
| 128 | ✗ | if (std::ranges::find_if(_filterItems, [&](const FilterItem& filterItem) { | |
| 129 | ✗ | return filterItem.dataDescription == item; | |
| 130 | }) | ||
| 131 | ✗ | != _filterItems.end()) { continue; } | |
| 132 | |||
| 133 | ✗ | _gui_availableItemsSelection = static_cast<size_t>(i); | |
| 134 | ✗ | break; | |
| 135 | } | ||
| 136 | } | ||
| 137 | } | ||
| 138 | ✗ | if (noMoreItems) { ImGui::EndDisabled(); } | |
| 139 | |||
| 140 | ✗ | const float COMBO_WIDTH = 100.0F * gui::NodeEditorApplication::windowFontRatio(); | |
| 141 | ✗ | const float ITEM_WIDTH = 140.0F * gui::NodeEditorApplication::windowFontRatio(); | |
| 142 | |||
| 143 | ✗ | std::optional<size_t> itemToDelete; | |
| 144 | ✗ | for (size_t i = 0; i < _filterItems.size(); i++) | |
| 145 | { | ||
| 146 | ✗ | auto& item = _filterItems.at(i); | |
| 147 | ✗ | bool keep = true; | |
| 148 | ✗ | ImGui::SetNextItemOpen(true, ImGuiCond_FirstUseEver); | |
| 149 | ✗ | if (ImGui::CollapsingHeader(fmt::format("{}##{}", item.dataDescription, size_t(id)).c_str(), &keep)) | |
| 150 | { | ||
| 151 | ✗ | ImGui::SetNextItemWidth(COMBO_WIDTH); | |
| 152 | ✗ | if (ImGui::BeginCombo(fmt::format("Filter Type##{}", size_t(id)).c_str(), to_string(item.filterType))) | |
| 153 | { | ||
| 154 | ✗ | for (size_t i = 0; i < static_cast<size_t>(FilterType::COUNT); i++) | |
| 155 | { | ||
| 156 | ✗ | const bool is_selected = (static_cast<size_t>(item.filterType) == i); | |
| 157 | ✗ | if (ImGui::Selectable(to_string(static_cast<FilterType>(i)), is_selected)) | |
| 158 | { | ||
| 159 | ✗ | item.filterType = static_cast<FilterType>(i); | |
| 160 | ✗ | LOG_DEBUG("{}: filterType changed to {}", nameId(), fmt::underlying(item.filterType)); | |
| 161 | ✗ | flow::ApplyChanges(); | |
| 162 | } | ||
| 163 | ✗ | if (is_selected) // Set the initial focus when opening the combo (scrolling + keyboard navigation focus) | |
| 164 | { | ||
| 165 | ✗ | ImGui::SetItemDefaultFocus(); | |
| 166 | } | ||
| 167 | } | ||
| 168 | ✗ | ImGui::EndCombo(); | |
| 169 | } | ||
| 170 | |||
| 171 | ✗ | ImGui::SameLine(); | |
| 172 | ✗ | float size = 7.0F * gui::NodeEditorApplication::windowFontRatio(); | |
| 173 | ✗ | ImGui::GetWindowDrawList()->AddCircleFilled(ImVec2(ImGui::GetCursorScreenPos().x + size / 1.2F, | |
| 174 | ✗ | ImGui::GetCursorScreenPos().y + size * 1.8F), | |
| 175 | size, | ||
| 176 | ✗ | item.modified | |
| 177 | ✗ | ? ImColor(0.0F, 255.0F, 0.0F) | |
| 178 | : ImColor(255.0F, 0.0F, 0.0F)); | ||
| 179 | ✗ | ImGui::Dummy(ImVec2(2 * size, 3.0F * size)); | |
| 180 | ✗ | if (ImGui::IsItemHovered()) | |
| 181 | { | ||
| 182 | ✗ | ImGui::SetTooltip(item.modified | |
| 183 | ? "Indicates wether the filter is working." | ||
| 184 | : "Indicates wether the filter is working.\n" | ||
| 185 | "Reasons why it is not working can be:\n" | ||
| 186 | "- Data rate of the incoming values must be greater then 2 * dt\n" | ||
| 187 | "- The data was never included in the observations (dynamic data)\n" | ||
| 188 | "- The data cannot be modified because it is not implemented yet"); | ||
| 189 | } | ||
| 190 | |||
| 191 | ✗ | ImGui::Indent(); | |
| 192 | ✗ | if (item.filterType == FilterType::Linear) | |
| 193 | { | ||
| 194 | ✗ | ImGui::SetNextItemWidth(ITEM_WIDTH); | |
| 195 | ✗ | if (ImGui::InputDoubleL(fmt::format("Cutoff Frequency##{} {}", size_t(id), item.dataDescription).c_str(), &item.linear_filter_cutoff_frequency, 1e-5, 1e5, 0.0, 0.0, "%.5f Hz")) | |
| 196 | { | ||
| 197 | ✗ | LOG_DEBUG("{}: Cutoff Freq. {} changed to {}", nameId(), item.dataDescription, item.linear_filter_cutoff_frequency); | |
| 198 | ✗ | flow::ApplyChanges(); | |
| 199 | } | ||
| 200 | } | ||
| 201 | ✗ | ImGui::Unindent(); | |
| 202 | } | ||
| 203 | ✗ | if (!keep) { itemToDelete = i; } | |
| 204 | } | ||
| 205 | ✗ | if (itemToDelete) { _filterItems.erase(std::next(_filterItems.begin(), static_cast<int64_t>(*itemToDelete))); } | |
| 206 | } | ||
| 207 | |||
| 208 | ✗ | json NAV::LowPassFilter::save() const | |
| 209 | { | ||
| 210 | LOG_TRACE("{}: called", nameId()); | ||
| 211 | |||
| 212 | ✗ | json j; | |
| 213 | |||
| 214 | ✗ | j["availableItems"] = _availableItems; | |
| 215 | ✗ | j["filterItems"] = _filterItems; | |
| 216 | |||
| 217 | ✗ | return j; | |
| 218 | ✗ | } | |
| 219 | |||
| 220 | ✗ | void NAV::LowPassFilter::restore(json const& j) | |
| 221 | { | ||
| 222 | LOG_TRACE("{}: called", nameId()); | ||
| 223 | ✗ | if (j.contains("availableItems")) { j.at("availableItems").get_to(_availableItems); } | |
| 224 | ✗ | if (j.contains("filterItems")) { j.at("filterItems").get_to(_filterItems); } | |
| 225 | ✗ | } | |
| 226 | |||
| 227 | ✗ | bool NAV::LowPassFilter::resetNode() | |
| 228 | { | ||
| 229 | LOG_TRACE("{}: called", nameId()); | ||
| 230 | |||
| 231 | ✗ | for (auto& item : _filterItems) | |
| 232 | { | ||
| 233 | ✗ | item.dataToFilter.clear(); | |
| 234 | ✗ | item.modified = false; | |
| 235 | } | ||
| 236 | |||
| 237 | ✗ | return true; | |
| 238 | } | ||
| 239 | |||
| 240 | ✗ | void NAV::LowPassFilter::afterCreateLink(OutputPin& startPin, [[maybe_unused]] InputPin& endPin) | |
| 241 | { | ||
| 242 | LOG_TRACE("{}: called for {} ==> {}", nameId(), size_t(startPin.id), size_t(endPin.id)); | ||
| 243 | |||
| 244 | ✗ | if (endPin.parentNode->id != id) | |
| 245 | { | ||
| 246 | ✗ | return; // Link on Output Port | |
| 247 | } | ||
| 248 | |||
| 249 | // Store previous output pin identifier | ||
| 250 | ✗ | auto previousOutputPinDataIdentifier = outputPins.at(OUTPUT_PORT_INDEX_FLOW).dataIdentifier; | |
| 251 | // Overwrite output pin identifier with input pin identifier | ||
| 252 | ✗ | outputPins.at(OUTPUT_PORT_INDEX_FLOW).dataIdentifier = startPin.dataIdentifier; | |
| 253 | |||
| 254 | ✗ | if (previousOutputPinDataIdentifier != outputPins.at(OUTPUT_PORT_INDEX_FLOW).dataIdentifier) // If the identifier changed | |
| 255 | { | ||
| 256 | // Check if connected links on output port are still valid | ||
| 257 | ✗ | for (auto& link : outputPins.at(OUTPUT_PORT_INDEX_FLOW).links) | |
| 258 | { | ||
| 259 | ✗ | if (auto* endPin = link.getConnectedPin()) | |
| 260 | { | ||
| 261 | ✗ | if (!outputPins.at(OUTPUT_PORT_INDEX_FLOW).canCreateLink(*endPin)) | |
| 262 | { | ||
| 263 | // If the link is not valid anymore, delete it | ||
| 264 | ✗ | outputPins.at(OUTPUT_PORT_INDEX_FLOW).deleteLink(*endPin); | |
| 265 | } | ||
| 266 | } | ||
| 267 | } | ||
| 268 | |||
| 269 | // Refresh all links connected to the output pin if the type changed | ||
| 270 | ✗ | if (outputPins.at(OUTPUT_PORT_INDEX_FLOW).dataIdentifier != previousOutputPinDataIdentifier) | |
| 271 | { | ||
| 272 | ✗ | for (auto& link : outputPins.at(OUTPUT_PORT_INDEX_FLOW).links) | |
| 273 | { | ||
| 274 | ✗ | if (auto* connectedPin = link.getConnectedPin()) | |
| 275 | { | ||
| 276 | ✗ | outputPins.at(OUTPUT_PORT_INDEX_FLOW).recreateLink(*connectedPin); | |
| 277 | } | ||
| 278 | } | ||
| 279 | } | ||
| 280 | } | ||
| 281 | |||
| 282 | ✗ | if (auto* pin = inputPins.at(INPUT_PORT_INDEX_FLOW).link.getConnectedPin(); | |
| 283 | ✗ | pin && _availableItems.empty()) | |
| 284 | { | ||
| 285 | ✗ | _gui_availableItemsSelection = 0; | |
| 286 | ✗ | _availableItems = NAV::NodeRegistry::GetStaticDataDescriptors(pin->dataIdentifier); | |
| 287 | } | ||
| 288 | ✗ | } | |
| 289 | |||
| 290 | ✗ | void NAV::LowPassFilter::afterDeleteLink(OutputPin& startPin, InputPin& endPin) | |
| 291 | { | ||
| 292 | LOG_TRACE("{}: called for {} ==> {}", nameId(), size_t(startPin.id), size_t(endPin.id)); | ||
| 293 | |||
| 294 | ✗ | _gui_availableItemsSelection = 0; | |
| 295 | ✗ | _availableItems.clear(); | |
| 296 | |||
| 297 | ✗ | if ((endPin.parentNode->id != id // Link on Output port is removed | |
| 298 | ✗ | && !inputPins.at(INPUT_PORT_INDEX_FLOW).isPinLinked()) // and the Input port is not linked | |
| 299 | ✗ | || (startPin.parentNode->id != id // Link on Input port is removed | |
| 300 | ✗ | && !outputPins.at(OUTPUT_PORT_INDEX_FLOW).isPinLinked())) // and the Output port is not linked | |
| 301 | { | ||
| 302 | ✗ | outputPins.at(OUTPUT_PORT_INDEX_FLOW).dataIdentifier = { NodeData::type() }; | |
| 303 | } | ||
| 304 | ✗ | } | |
| 305 | |||
| 306 | ✗ | void NAV::LowPassFilter::receiveObs(NAV::InputPin::NodeDataQueue& queue, size_t /* pinIdx */) | |
| 307 | { | ||
| 308 | ✗ | auto obs = queue.extract_front(); | |
| 309 | |||
| 310 | ✗ | for (const auto& desc : obs->dynamicDataDescriptors()) | |
| 311 | { | ||
| 312 | ✗ | if (std::ranges::none_of(_availableItems, [&](const auto& header) { return header == desc; })) | |
| 313 | { | ||
| 314 | ✗ | _availableItems.push_back(desc); | |
| 315 | ✗ | flow::ApplyChanges(); | |
| 316 | } | ||
| 317 | ✗ | } | |
| 318 | |||
| 319 | ✗ | auto out = NAV::NodeRegistry::CopyNodeData(obs); | |
| 320 | |||
| 321 | ✗ | for (auto& item : _filterItems) | |
| 322 | { | ||
| 323 | LOG_DATA("{}: [{}] {}", nameId(), item.dataIndex, item.dataDescription); | ||
| 324 | ✗ | if (item.dataIndex < out->staticDescriptorCount()) | |
| 325 | { | ||
| 326 | ✗ | if (auto value = out->getValueAt(item.dataIndex)) | |
| 327 | { | ||
| 328 | ✗ | if (auto newValue = filterData(item, out->insTime, *value)) | |
| 329 | { | ||
| 330 | ✗ | item.modified |= out->setValueAt(item.dataIndex, *newValue); | |
| 331 | } | ||
| 332 | } | ||
| 333 | } | ||
| 334 | ✗ | else if (auto value = out->getDynamicDataAt(item.dataDescription)) | |
| 335 | { | ||
| 336 | ✗ | if (auto newValue = filterData(item, out->insTime, *value)) | |
| 337 | { | ||
| 338 | ✗ | item.modified |= out->setDynamicDataAt(item.dataDescription, *newValue); | |
| 339 | } | ||
| 340 | } | ||
| 341 | } | ||
| 342 | |||
| 343 | ✗ | invokeCallbacks(OUTPUT_PORT_INDEX_FLOW, out); | |
| 344 | ✗ | } | |
| 345 | |||
| 346 | ✗ | std::optional<double> NAV::LowPassFilter::filterData(FilterItem& item, const InsTime& insTime, double value) | |
| 347 | { | ||
| 348 | ✗ | if (item.filterType == FilterType::Linear) | |
| 349 | { | ||
| 350 | // first we filter accelerations | ||
| 351 | ✗ | item.dataToFilter[insTime] = value; | |
| 352 | // for testing at the moment | ||
| 353 | ✗ | double dt = 1.0 / item.linear_filter_cutoff_frequency; | |
| 354 | // remove all entries that are outside filter time window | ||
| 355 | ✗ | std::erase_if(item.dataToFilter, [&](const auto& pair) { return static_cast<double>((insTime - pair.first).count()) > dt; }); | |
| 356 | |||
| 357 | ✗ | if (item.dataToFilter.size() > 2) | |
| 358 | { | ||
| 359 | // average accelerations first | ||
| 360 | ✗ | auto N11 = static_cast<double>(item.dataToFilter.size()); | |
| 361 | ✗ | double N12 = 0.0; | |
| 362 | ✗ | double N22 = 0.0; | |
| 363 | ✗ | double n1 = 0.0; | |
| 364 | ✗ | double n2 = 0.0; | |
| 365 | ✗ | for (const auto& key_val : item.dataToFilter) | |
| 366 | { | ||
| 367 | ✗ | auto delta_t = static_cast<double>((key_val.first - insTime).count()); | |
| 368 | ✗ | N12 += delta_t; | |
| 369 | ✗ | N22 += delta_t * delta_t; | |
| 370 | ✗ | n1 += key_val.second; | |
| 371 | ✗ | n2 += delta_t * key_val.second; | |
| 372 | } | ||
| 373 | ✗ | double determinant_inverse = 1.0 / (N11 * N22 - N12 * N12); | |
| 374 | ✗ | return determinant_inverse * (N22 * n1 - N12 * n2); | |
| 375 | } | ||
| 376 | } | ||
| 377 | ✗ | return {}; | |
| 378 | } | ||
| 379 | |||
| 380 | ✗ | const char* NAV::LowPassFilter::to_string(FilterType value) | |
| 381 | { | ||
| 382 | ✗ | switch (value) | |
| 383 | { | ||
| 384 | ✗ | case FilterType::Linear: | |
| 385 | ✗ | return "Linear fit"; | |
| 386 | // case FilterType::Experimental: | ||
| 387 | // return "Experimental"; | ||
| 388 | ✗ | case FilterType::COUNT: | |
| 389 | ✗ | return ""; | |
| 390 | } | ||
| 391 | ✗ | return ""; | |
| 392 | } | ||
| 393 | |||
| 394 | namespace NAV | ||
| 395 | { | ||
| 396 | |||
| 397 | ✗ | void to_json(json& j, const LowPassFilter::FilterItem& data) | |
| 398 | { | ||
| 399 | ✗ | j = json{ | |
| 400 | ✗ | { "dataDescription", data.dataDescription }, | |
| 401 | ✗ | { "filterType", data.filterType }, | |
| 402 | ✗ | { "linear_filter_cutoff_frequency", data.linear_filter_cutoff_frequency }, | |
| 403 | ✗ | }; | |
| 404 | ✗ | } | |
| 405 | |||
| 406 | ✗ | void from_json(const json& j, LowPassFilter::FilterItem& data) | |
| 407 | { | ||
| 408 | ✗ | if (j.contains("dataDescription")) { j.at("dataDescription").get_to(data.dataDescription); } | |
| 409 | ✗ | if (j.contains("filterType")) { j.at("filterType").get_to(data.filterType); } | |
| 410 | ✗ | if (j.contains("linear_filter_cutoff_frequency")) { j.at("linear_filter_cutoff_frequency").get_to(data.linear_filter_cutoff_frequency); } | |
| 411 | ✗ | } | |
| 412 | |||
| 413 | } // namespace NAV | ||
| 414 |