Typedef PntosOrchestrationPlugin

Typedef Documentation

typedef struct PntosOrchestrationPlugin PntosOrchestrationPlugin

The pntOS orchestration plugin is responsible for orchestrating one or more fusion engines, state model providers and other plugins in order to perform sensor fusion. The orchestration plugin is sent (sorted, buffered) ASPN messages from the controller, and is responsible for computing a solution for the system, as well as estimating any other quantities of interest.

In order to achieve this task, the orchestration plugin may be passed a set of other plugins during the call to PntosOrchestrationPlugin.init_orchestration_plugin. If so, the orchestration plugin then, as the name suggests, configures and orchestrates these plugins to work together to perform sensor fusion. For example, the orchestration plugin may set up a fusion engine it received in the call to PntosOrchestrationPlugin.init_orchestration_plugin, then add state blocks or measurement processors to that fusion engine from a state modeling plugin it also received, and process inertial data from an inertial plugin it received. The PntosOrchestrationPlugin.request_solutions function will be called by the system when pntOS needs to know the current filtering solutions. Other quantities which need to be estimated by the orchestration engine can be returned to the system by registry updates.