File List

Here is a list of all files with brief descriptions:

[detail level 12345678]

▼ doc
▼ algorithms
GNSS
Inertial
KalmanFilter
Simulator
developer_manual
general_pages
▼ user_manual
► getting_started
► main_window
gui_advanced
► node guide
► converter_nodes
converter_gnss_nodes
converter_imu_nodes
data_link_nodes
► data_logger_nodes
data_logger_general_nodes
data_logger_gnss_nodes
data_logger_imu_nodes
data_logger_state_nodes
data_processor_nodes
► data_provider_nodes
► data_provider_gnss_nodes
data_provider_gnss_file_reader_nodes
data_provider_gnss_sensors_nodes
► data_provider_imu_nodes
data_provider_imu_file_reader_nodes
data_provider_imu_sensors_nodes
data_provider_imu_simulators_nodes
data_provider_state_nodes
state_nodes
utility_nodes
▼ src
▼ internal
► gui
► menus
DebugMenu.cpp
DebugMenu.hpp	Debug Menu
EditMenu.cpp
EditMenu.hpp	Edit Menu
FileMenu.cpp
FileMenu.hpp	The File Menu
MainMenuBar.cpp
MainMenuBar.hpp	Main Menu Bar
RunMenu.cpp
RunMenu.hpp	Run Menu
TimeMenu.cpp
TimeMenu.hpp	Time Menu
► panels
BlueprintNodeBuilder.cpp
BlueprintNodeBuilder.hpp
LeftPane.cpp
LeftPane.hpp	Left Pane where Nodes and Selection is shown
► widgets
DynamicInputPins.cpp	Inputs pins which can be added dynamically
DynamicInputPins.hpp	Inputs pins which can be added dynamically
EnumCombo.hpp	Combo representing an enumeration
EnumComboWithAbbreviation.hpp	Combo representing an enumeration
EnumComboWithTooltip.hpp	Combo representing an enumeration with tooltip
FileDialog.cpp
FileDialog.hpp	File Chooser
HelpMarker.cpp
HelpMarker.hpp	Text Help Marker (?) with Tooltip
imgui_ex.cpp
imgui_ex.hpp	ImGui extensions
InputWithUnit.hpp	Defines Widgets which allow the input of values and the selection of the unit
KeyedMatrix.hpp	Widgets related to KeyedMatrices
Matrix.hpp	Widgets related to Matrices
PinIcon.cpp
PinIcon.hpp
PositionInput.cpp
PositionInput.hpp	Position Input GUI widgets
Spinner.cpp
Spinner.hpp	Spinner to show that something is done
Splitter.cpp
Splitter.hpp	Screen Divider
TextAnsiColored.cpp
TextAnsiColored.hpp	Text which can be colored by Ansi codes
TimeEdit.cpp
TimeEdit.hpp	Widget to modify time point values
► windows
ColormapEditor.cpp	Colormap editor window
ColormapEditor.hpp	Colormap editor window
FontSizeEditor.cpp
FontSizeEditor.hpp	Font size chooser window
Global.cpp
Global.hpp	Global windows
ImPlotStyleEditor.cpp
ImPlotStyleEditor.hpp	ImPlot style editor window
NodeEditorStyleEditor.cpp
NodeEditorStyleEditor.hpp	Style Editor window
Screenshotter.cpp
Screenshotter.hpp	Screenshot utility
FlowAnimation.cpp
FlowAnimation.hpp	Handles Flow animations
GlobalActions.cpp
GlobalActions.hpp	Global Gui Actions
NodeEditorApplication.cpp
NodeEditorApplication.hpp	GUI callbacks
Shortcuts.cpp
Shortcuts.hpp	Defines all available shortcuts
TouchTracker.cpp
TouchTracker.hpp	Touch Event Tracker
► Node
Node.cpp
Node.hpp	Node Class
Pin.cpp
Pin.hpp	Pin class
AppLogic.cpp
AppLogic.hpp	Application logic
CMakeRC.hpp	Handles compiling resources into the binary
ConfigManager.cpp
ConfigManager.hpp	Config management for the Project
FlowExecutor.cpp
FlowExecutor.hpp	Flow Executor Thread
FlowManager.cpp
FlowManager.hpp	Save/Load the Nodes
NodeManager.cpp
NodeManager.hpp	Manages all Nodes
Sleep.cpp
Sleep.hpp	Class to catch system signals and sleep
Version.hpp	Provides the version of the project
▼ Navigation
► Atmosphere
► Ionosphere
► Models
Klobuchar.cpp
Klobuchar.hpp	Klobuchar Ionospheric correction model
Ionosphere.cpp
Ionosphere.hpp	Ionosphere Models
IonosphericCorrections.cpp	Ionospheric corrections
IonosphericCorrections.hpp	Ionospheric Correction data
► Pressure
► Models
StandardAtmosphere.hpp	Standard Atmosphere pressure model
Pressure.cpp
Pressure.hpp	Pressure calculation formulas
► Temperature
► Models
StandardAtmosphere.hpp	Standard Atmosphere temperature model
Temperature.cpp
Temperature.hpp	Temperature calculation formulas
► Troposphere
► MappingFunctions
► internal
► coeffs
GMFCoeffs.cpp
GMFCoeffs.hpp	GMF Coefficients
Cosecant.cpp
Cosecant.hpp	Cosecant tropospheric mapping function
GMF.cpp	Global Mapping Function (GMF)
GMF.hpp	Global Mapping Function (GMF)
NiellMappingFunction.cpp	Niell Mapping Function (NMF)
NiellMappingFunction.hpp	Niell Mapping Function
ViennaMappingFunction.cpp
ViennaMappingFunction.hpp	Gridded Vienna Mapping Function
► Models
► internal
► coeffs
GPT2Coeffs.cpp	GPT2 Coefficients
GPT3Coeffs.cpp	GPT3 Coefficients
GPT2Coeffs.hpp	GPT2 Coefficients
GPT3Coeffs.hpp	GPT3 Coefficients
GPT.cpp
GPT.hpp	GPT2/3 (Global Pressure and Temperature) models
Saastamoinen.cpp
Saastamoinen.hpp	Saastamoinen troposphere correction model
Troposphere.cpp
Troposphere.hpp	Troposphere Models
ZenithDelay.hpp	Zenith hydrostatic and wet delay
► WaterVapor
► Models
StandardAtmosphere.hpp	Standard Atmosphere water vapor model
WaterVapor.cpp
WaterVapor.hpp	Water vapor calculation
► Ellipsoid
Ellipsoid.hpp	Functions concerning the ellipsoid model
► Geoid
► internal
EGM96_Data.hpp
EGM96.cpp
EGM96.hpp	EGM96 geoid model
► GNSS
► Ambiguity
► CycleSlipDetector
PolynomialCycleSlipDetector.hpp	Polynomial Cycle-slip detection algorithm
CycleSlipDetector.cpp	Combination of different cycle-slip detection algorithms
CycleSlipDetector.hpp	Combination of different cycle-slip detection algorithms
► Core
Code.cpp
Code.hpp	Code definitions
Frequency.cpp
Frequency.hpp	Frequency definition for different satellite systems
SatelliteIdentifier.cpp
SatelliteIdentifier.hpp	Structs identifying a unique satellite
SatelliteSystem.cpp
SatelliteSystem.hpp	GNSS Satellite System
► Errors
MeasurementErrors.cpp
MeasurementErrors.hpp	Errors concerning GNSS observations
► Positioning
► SPP
Algorithm.cpp	Single Point Positioning Algorithm
Algorithm.hpp	Single Point Positioning Algorithm
KalmanFilter.cpp	SPP Kalman Filter
KalmanFilter.hpp
Keys.cpp	Keys for the SPP algorithm for use inside the KeyedMatrices
Keys.hpp	Keys for the SPP algorithm for use inside the KeyedMatrices
AntexReader.hpp	ANTEX file reader
Observation.cpp
Observation.hpp	Observation data used for calculations
ObservationEstimator.hpp	Calculates Observation estimates
ObservationFilter.hpp	Observation Filter
Receiver.hpp	Receiver information
ReceiverClock.hpp	Receiver Clock information
Units.cpp
Units.hpp	Units used by GNSS positioning
► Satellite
► Ephemeris
BDSEphemeris.cpp
BDSEphemeris.hpp	BDS Ephemeris information
GalileoEphemeris.cpp
GalileoEphemeris.hpp	Galileo Ephemeris information
GLONASSEphemeris.cpp
GLONASSEphemeris.hpp	Galileo Ephemeris information
GPSEphemeris.cpp
GPSEphemeris.hpp	GPS Ephemeris information
IRNSSEphemeris.cpp
IRNSSEphemeris.hpp	IRNSS Ephemeris information
QZSSEphemeris.cpp
QZSSEphemeris.hpp	QZSS Ephemeris information
► internal
Clock.hpp	Abstract satellite clock information
Orbit.cpp
Orbit.hpp	Abstract satellite orbit information
SatNavData.cpp
SatNavData.hpp	Satellite Navigation data (to calculate SatNavData and clock)
Satellite.cpp
Satellite.hpp	Calculations and data related to satellite orbit, clock, ..
► SystemModel
AttitudeModel.hpp	Attitude System Model
InterFrequencyBiasModel.hpp	Inter Frequency Bias System Model
MotionModel.hpp	Motion System Model
ReceiverClockModel.hpp	Receiver Clock System Model
SystemModel.cpp
SystemModel.hpp	System Model
Units.cpp
Units.hpp	Units used by the system model parameters
Functions.cpp
Functions.hpp	GNSS helper functions
SNRMask.cpp	Signal to Noise Ratio Mask
SNRMask.hpp	Signal to Noise Ratio Mask
► Gravity
► internal
► coeffs
egm96Coeffs.cpp	EGM96 coefficients
AssociatedLegendre.hpp	Associated Legendre Polynomials for EGM96
egm96Coeffs.hpp
readAscii2Matrix.cpp
readAscii2Matrix.hpp	Read function for EGM96 coefficients
Gravity.cpp
Gravity.hpp	Different Gravity Models
► INS
► EcefFrame
ErrorEquations.hpp	Error Equations for the ECEF frame
Mechanization.hpp	Inertial Navigation Mechanization Functions in ECEF frame
► LocalNavFrame
ErrorEquations.cpp
ErrorEquations.hpp	Error Equations for the local navigation frame
Mechanization.hpp	Inertial Navigation Mechanization Functions in local navigation frame
► SensorCombiner
► BsplineKF
BsplineKF.cpp
BsplineKF.hpp	Kalman filter matrices for the B-spline Multi-IMU fusion
QuadraticBsplines.cpp
QuadraticBsplines.hpp	Constructs four overlapping qaudratic B-splines
► IRWKF
IRWKF.cpp
IRWKF.hpp	Kalman filter matrices for the Integrated-Random-Walk (IRW) Multi-IMU fusion
PinData.hpp	Information about a sensor which is connected to a certain pin
Functions.hpp	Inertial Navigation Helper Functions
InertialIntegrator.cpp	Inertial Measurement Integrator
InertialIntegrator.hpp	Inertial Measurement Integrator
Keys.cpp
Keys.hpp	Inertial Navigation System Keys
Mechanization.cpp
Mechanization.hpp	Inertial Navigation Mechanization Functions
ProcessNoise.cpp
ProcessNoise.hpp	General process Noise definitions
Units.cpp
Units.hpp	Units used by INS
► Math
► internal
► PolynomialRegressor
BDCSVD.hpp	Bidiagonal Divide and Conquer SVD Curve Fit
COD.hpp	Complete Orthogonal Decomposition Curve Fit
HouseholderQr.hpp	Least Squares Curve Fit
IncrementalLeastSquares.hpp	Incremental Least Squares Curve Fit
LeastSquares.hpp	Least Squares Curve Fit
CubicSpline.hpp	Cubic Spline class
KalmanFilter.hpp	Generalized Kalman Filter class
KeyedKalmanFilter.hpp	Kalman Filter with keyed states
KeyedLeastSquares.hpp	Least squares with keyed states
LeastSquares.hpp	Least Squares Algorithm
Math.cpp
Math.hpp	Simple Math functions
NumericalIntegration.hpp	Provides Numerical integration methods
Polynomial.hpp	Polynomial
PolynomialRegressor.cpp
PolynomialRegressor.hpp	Polynomial curve fitting
Sort.hpp	Sorting algorithms
VanLoan.hpp	Van Loan Method [48]
► Time
InsTime.cpp
InsTime.hpp	The class is responsible for all time-related tasks
TimeSystem.cpp	Time
TimeSystem.hpp	Time System defintions
► Transformations
Antenna.hpp	GNSS Antenna related transformations
CoordinateFrames.hpp	Transformation collection
Units.hpp
Constants.hpp	Holds all Constants
▼ NodeData
► Baro
BaroHgt.hpp	Barometric Height Storage Class
BaroPressObs.hpp	Barometric Pressure Storage Class
► General
CsvData.hpp	CSV Data container
DynamicData.cpp	Dynamic Data container
DynamicData.hpp	Dynamic Data container
StringObs.hpp	Wrapper for String Messages
UartPacket.hpp	UART Packet storage class
► GNSS
EmlidObs.hpp	Emlid Observation Class
GnssCombination.hpp	GNSS measurement combinations
GnssNavInfo.hpp	Navigation message information
GnssObs.cpp	GNSS Observation messages
GnssObs.hpp	GNSS Observation messages
RtklibPosObs.hpp	RTKLIB Pos Observation Class
SppSolution.hpp	SPP Algorithm output
UbloxObs.hpp	Ublox Observation Class
► IMU
ImuObs.hpp	Parent Class for all IMU Observations
ImuObsSimulated.hpp	Data storage class for simulated IMU observations
ImuObsWDelta.hpp	Data storage class for one VectorNavImu observation
ImuPos.cpp
ImuPos.hpp	Imu Position Data
KvhObs.hpp	Data storage class for one KVH Imu observation
VectorNavBinaryOutput.hpp	Binary Outputs from VectorNav Sensors
► State
InsGnssLCKFSolution.hpp	Loosely-coupled Kalman Filter INS/GNSS errors
InsGnssTCKFSolution.hpp	Tightly-coupled Kalman Filter INS/GNSS errors
Pos.hpp	Position Storage Class
PosVel.hpp	Position and Velocity Storage Class
PosVelAtt.hpp	Position, Velocity and Attitude Storage Class
► WiFi
WiFiObs.hpp	Espressif Observation Class
WiFiPositioningSolution.hpp	WiFi Positioning Algorithm output
NodeData.hpp	Abstract NodeData Class
▼ Nodes
► Converter
► GNSS
RtklibPosConverter.cpp
RtklibPosConverter.hpp	Convert RTKLib pos files into PosVel
UartPacketConverter.cpp
UartPacketConverter.hpp	Decrypts Uart packets
UbloxGnssObsConverter.cpp
UbloxGnssObsConverter.hpp	Convert UbloxObs into GnssObs
UbloxGnssOrbitCollector.cpp
UbloxGnssOrbitCollector.hpp	Collects UBX-RXM-SFRBX messages and provides the Orbit information
► IMU
VectorNavBinaryConverter.cpp
VectorNavBinaryConverter.hpp	Converts VectorNavBinaryOutput
► DataLink
mavlinkSend.cpp
mavlinkSend.hpp	Sends a navigation solution via the MAVLink protocol
udpRecv.cpp
udpRecv.hpp	Asynchronous data link - receiver node
udpSend.cpp
udpSend.hpp	Asynchronous data link - sender node
► DataLogger
► General
CsvLogger.cpp
CsvLogger.hpp	Data Logger for CSV files
KmlLogger.cpp
KmlLogger.hpp	Data Logger for Pos data as KML (Keyhole Markup Language) files (input for Google Earth)
MatrixLogger.cpp
MatrixLogger.hpp	Data Logger for matrices
► GNSS
RinexObsLogger.cpp
RinexObsLogger.hpp	Logger for GnssObs to RINEX observation files
UartDataLogger.cpp
UartDataLogger.hpp	Data Logger for Uart packets
► IMU
VectorNavDataLogger.cpp
VectorNavDataLogger.hpp	Data Logger for VectorNav observations
► Protocol
FileWriter.cpp
FileWriter.hpp	File Writer class
► WiFi
WiFiObsLogger.cpp
WiFiObsLogger.hpp	Data Logger for WiFi observations
► DataProcessor
► Barometer
PressToHgt.cpp
PressToHgt.hpp	Pressure to height converter
► ErrorModel
AllanDeviation.cpp
AllanDeviation.hpp	Computes Allan Deviation
ErrorModel.cpp
ErrorModel.hpp	Adds errors (biases and noise) to measurements
► Filter
LowPassFilter.cpp
LowPassFilter.hpp	Filters incoming data
► GNSS
GnssAnalyzer.cpp
GnssAnalyzer.hpp	Allows creation of GNSS measurement combinations
SinglePointPositioning.cpp
SinglePointPositioning.hpp	Single Point Positioning (SPP) / Code Phase Positioning
► Integrator
ImuIntegrator.cpp
ImuIntegrator.hpp	Integrates ImuObs Data
► KalmanFilter
LooselyCoupledKF.cpp
LooselyCoupledKF.hpp	Kalman Filter class for the loosely coupled INS/GNSS integration
► SensorCombiner
ImuFusion.cpp
ImuFusion.hpp	Combines signals of sensors that provide the same signal-type to one signal
► WiFi
WiFiPositioning.cpp
WiFiPositioning.hpp	WiFi Positioning
► DataProvider
► Barometer
► Simulators
BaroSimulator.cpp
BaroSimulator.hpp	Barometer observation simulator
► CSV
CsvFile.cpp
CsvFile.hpp	CSV File reader
► GNSS
► FileReader
EmlidFile.cpp
EmlidFile.hpp	File Reader for Emlid log files
NmeaFile.cpp
NmeaFile.hpp	File Reader for NMEA files
RinexNavFile.cpp
RinexNavFile.hpp	File reader for RINEX Navigation messages
RinexObsFile.cpp
RinexObsFile.hpp	File reader for RINEX Observation messages
RtklibPosFile.cpp
RtklibPosFile.hpp	File Reader for RTKLIB Pos files
UbloxFile.cpp
UbloxFile.hpp	File Reader for ubx files
► Sensors
EmlidSensor.cpp
EmlidSensor.hpp	Emlid Sensor Class
UbloxSensor.cpp
UbloxSensor.hpp	Ublox Sensor Class
► IMU
► FileReader
ImuFile.cpp
ImuFile.hpp	File Reader for Imu log files
KvhFile.cpp
KvhFile.hpp	File Reader for Kvh log files
MultiImuFile.cpp
MultiImuFile.hpp	File reader for Multi-IMU data log files
UlogFile.cpp
UlogFile.hpp	File Reader for ULog files
VectorNavFile.cpp
VectorNavFile.hpp	File Reader for Vector Nav log files
► Sensors
KvhSensor.cpp
KvhSensor.hpp	KVH Sensors
Navio2Sensor.cpp
Navio2Sensor.hpp	Navio2 Sensors
VectorNavSensor.cpp
VectorNavSensor.hpp	Vector Nav Sensors
► Simulators
ImuSimulator.cpp
ImuSimulator.hpp	Imu Observation Simulator
Imu.cpp
Imu.hpp	Abstract IMU Class
► Protocol
FileReader.cpp
FileReader.hpp	Abstract File Reader class
UartSensor.cpp
UartSensor.hpp	Abstract Uart Sensor Class
► State
PosVelAttFile.cpp
PosVelAttFile.hpp	PosVelAtt File Reader
► WiFi
► FileReader
WiFiObsFile.cpp
WiFiObsFile.hpp	WiFiObs File Reader
► Sensors
ArubaSensor.cpp
ArubaSensor.hpp	Aruba Sensor Class
EspressifSensor.cpp
EspressifSensor.hpp	Espressif Sensor Class
► Experimental
► DataProcessor
ARMA.cpp
ARMA.hpp	ARMA Node
TightlyCoupledKF.cpp
TightlyCoupledKF.hpp	Kalman Filter class for the tightly coupled INS/GNSS integration
► DataProvider
► IMU
► NetworkStream
SkydelNetworkStream.cpp
SkydelNetworkStream.hpp	Node receiving UDP packages from the Skydel GNSS simulator Instinct plugin
► Simple
Delay.cpp
Delay.hpp	Delay Node
► Plotting
Plot.cpp
Plot.hpp	Plots data into ImPlot Windows
► State
PosVelAttInitializer.cpp
PosVelAttInitializer.hpp	Position, Velocity, Attitude Initializer from GPS and IMU data
► Utility
Combiner.cpp
Combiner.hpp	Calculates differences between signals
Demo.cpp
Demo.hpp	Demo Node which demonstrates all capabilities
GroupBox.cpp
GroupBox.hpp	Group Box
Merger.cpp
Merger.hpp	Merger Node
Terminator.cpp
Terminator.hpp	Terminator for open signals. Mainly used for test flows
TimeWindow.cpp
TimeWindow.hpp	Limits measurement data from any source to a user-defined timewindow
▼ util
► Container
Array.hpp	Array Utility functions
CartesianProduct.hpp	Algorithm iterating all combinations of a list
KeyedMap.hpp	Similar to KeyedMatrix, but memory is allocated in a map and therefore never reallocated
KeyedMatrix.hpp	Matrix which can be accessed by keys
Pair.hpp	Utility functions for std::pair
ScrollingBuffer.hpp	A buffer which is overwriting itself from the start when full
STL.hpp	Algorithms concerning the STL containers
TsDeque.hpp	Thread-safe deque
UncertainValue.hpp	Values with an uncertainty (Standard Deviation)
Unordered_map.hpp	Unordered map wrapper
Vector.hpp	Vector Utility functions
► Logger
CommonLog.cpp
CommonLog.hpp	Common logging variables like time into run and local positions
dist_filter_sink.hpp	Distribution sink with filter option. Stores a vector of sinks which get called when log is called
► Plot
Colormap.cpp	Colormap
Colormap.hpp	Colormap
PlotEventTooltip.hpp	Tooltips for a plot events
PlotItemStyle.cpp
PlotItemStyle.hpp	Specifying the look of a certain line in the plot
PlotTooltip.cpp
PlotTooltip.hpp	Plot Tooltips on hover
► Random
RandomNumberGenerator.cpp	Random Number generator
RandomNumberGenerator.hpp	Random Number Generator
SHA256.cpp
SHA256.hpp
► Time
TimeBase.cpp
TimeBase.hpp	Keeps track of the current real/simulation time
► Vendor
► Emlid
EmlidTypes.cpp
EmlidTypes.hpp	Type Definitions for Emlid messages for Emlid Reach M2 ER Protocol
EmlidUartSensor.cpp
EmlidUartSensor.hpp	Class to read out Emlid Sensors
EmlidUtilities.cpp
EmlidUtilities.hpp	Helper Functions to work with Emlid Sensors
► Espressif
EspressifUartSensor.cpp
EspressifUartSensor.hpp	Class to read out Espressif Sensors
EspressifUtilities.cpp
EspressifUtilities.hpp	Helper Functions to work with Espressif Sensors
► KVH
KvhUartSensor.cpp
KvhUartSensor.hpp	Class to read out KVH Sensors
KvhUtilities.cpp
KvhUtilities.hpp	Helper Functions to work with Kvh Sensors
► MavLink
autopilot_interface.cpp	Autopilot interface functions
autopilot_interface.hpp	Autopilot interface definition
generic_port.hpp	Generic interface definition
serial_port.cpp	Serial interface functions
serial_port.hpp	Serial interface definition
udp_port.cpp	UDP interface functions
udp_port.hpp	UDP interface definition
► Pixhawk
UlogFileFormat.hpp	List of all ulog message types
► RINEX
RINEXUtilities.cpp
RINEXUtilities.hpp	Functions to work with RINEX
► Ublox
UbloxTypes.cpp
UbloxTypes.hpp	Type Definitions for Ublox messages
UbloxUartSensor.cpp
UbloxUartSensor.hpp	Class to read out Ublox Sensors
UbloxUtilities.cpp
UbloxUtilities.hpp	Helper Functions to work with Ublox Sensors
► VectorNav
► BinaryOutputs
AttitudeOutputs.hpp
GnssOutputs.hpp
ImuOutputs.hpp
InsOutputs.hpp
TimeOutputs.hpp	Binary Group 5 - Attitude Outputs
VectorNavTypes.cpp
VectorNavTypes.hpp	Type Definitions for VectorNav messages
Assert.h	Assertion helpers
CallbackTimer.cpp
CallbackTimer.hpp	Starts a Periodic Timer
Eigen.hpp	Vector space operations
ImGui.hpp	ImGui Helper
ImPlot.cpp
ImPlot.hpp	ImPlot utilities
Json.cpp
Json.hpp	Defines how to save certain datatypes to json
Logger.cpp
Logger.hpp	Utility class for logging to console and file
StringUtil.hpp	Utility functions for working with std::strings
main.cpp
NodeRegistry.cpp
NodeRegistry.hpp	Utility class which specifies available nodes