wouterbulten/slacjs

digraph {

    rankdir=TB;
    newrank=true;
    graph[ratio=1.1]



    subgraph clusterParticleFilter {

        label="SLACjs"
        motionUpdate [label="Motion update"]
        processObs [label="Landmark present\n in filter?", shape=diamond, color=grey80, style=filled]
        variance [label=<Number of<br/> effective particles (N<sub>eff</sub>)>, shape=diamond, color=grey80, style=filled]
        resample [label="Low variance resampler", shape=box]

        hasEstimate [label="Initialisation of\n landmark complete?", shape=diamond, color=grey80, style=filled]
        hasEstimateInit [label="Particle filter\n has converged?", shape=diamond, color=grey80, style=filled]

        subgraph clusterBle {
            label="Bluetooth LE"
            label="Motion sensing"
            color=grey30
            style=dashed

            filter [label="Filter", shape=box]
            ble1 [label="Beacons / Landmarks", shape=box3d]    

        }
        

        subgraph clusterMotion {
            label="Motion sensing"
            color=grey30
            style=dashed

            accelerometer [label="Accelerometer", shape=box3d]

            pedometer [label="Pedometer", shape=box]

            compass [label="Compass", shape=box3d]

        }

        subgraph clusterInitLandmark {

            label="Landmark Initialisation\nParticle Filter"
            color=grey30

            initFilter [label="Create Filter"]
            updateInitFilter [label="Update filter\n based on observation"]

        }

        subgraph clusterEKF {

            label="Extended Kalman Filter"
            color=grey30

            initEKF [label="Init EKF"]
            updateEKF [label="Update EKF"]
            weight [label="Compute weight"]
            
        }

    }
    end [label="End", width=1.2,height=1, penwidth=2]
    pseudoStart [width=1.2,height=1, style=invis]
    start [label="Start", width=1.2,height=1, penwidth=2]

    pseudoStart->start [penwidth=4]
    start->motionUpdate

    start->end [arrowhead=none, arrowtail=normal, dir=both, label=" On new\n motion"]


    initEKF->updateEKF
    updateEKF->weight
    initFilter->updateInitFilter [label="{r}"]

    pedometer->motionUpdate [label="Step count"]

    accelerometer->pedometer [label=<{d<sup>2</sup>x/dt<sup>2</sup>, d<sup>2</sup>y/dt<sup>2</sup>, d<sup>2</sup>z/dt<sup>2</sup>}>]

    compass->motionUpdate [label="Heading"]





    motionUpdate->processObs
    filter->processObs [label="Observations [{uid,r}, ...]"]
    ble1->filter [label="{uid, RSSI}"]


    processObs->initFilter [label=<No, {u<sub>x</sub>, u<sub>y</sub>, r}>]

    processObs->hasEstimate [label="Yes"]
    hasEstimate->updateEKF [label="Yes, {r}"]
    hasEstimate->updateInitFilter [label="No, {r}"]
    updateInitFilter->hasEstimateInit [label=<{l<sub>x</sub>, l<sub>y</sub>, l<sub>var</sub>}>]
    hasEstimateInit->variance [label="No"]
    hasEstimateInit->initEKF [label=<Yes, {l<sub>x</sub>, l<sub>y</sub>, l<sub>var</sub>}>]

    weight->variance
    variance->resample [label=<N<sub>eff</sub> &lt;= threshold>]

    variance->end [label=<N<sub>eff</sub> &gt; threshold>]
    resample->end

    filter->motionUpdate [style=invis]
    accelerometer->filter [style=invis]

    {rank=same; filter; pedometer}
    {rank=same; accelerometer; ble1; compass}
}