Added more sensors for STAHR

spatz/sensors/imu/accelerometer.py

@@ -50,6 +50,7 @@ class Accelerometer(Sensor):
         self._orientation = orientation
 
     def _get_data(self) -> ArrayLike | float:
+        """
         acc = self._dataset.get_acceleration('global')
 
         self._logger.write('global_ax', acc[0], self._get_name())
@@ -70,6 +71,9 @@ class Accelerometer(Sensor):
         # Add the effects of the imu's offset.
         omega = self._dataset.get_angular_velocity()
         acc += (np.cross(omega, self._offset) + np.cross(omega, np.cross(omega, self._offset)))
+        """
+
+        acc = self._dataset.get_acceleration('local')
 
         return acc
     

spatz/sensors/imu/bmi088.py

@@ -30,7 +30,7 @@ class BMI088Gyro(Gyroscope):
 
 class BMI088Acc(Accelerometer):
     def __init__(self, dataset: Dataset, logger: Logger, orientation = np.identity(3), offset: float = 0, transforms: List[Transform] = []):
-        super().__init__(dataset, logger, CoordSystem.RIGHT_HANDED, orientation, offset, transforms)
+        super().__init__(dataset, logger, orientation, offset, transforms)
 
         self.__noise = GaussianNoise(0, 0.05)
 

spatz/sensors/imu/iam_20380ht.py

@@ -0,0 +1,21 @@
+import numpy as np
+
+from typing import List, AnyStr
+
+from numpy.typing import ArrayLike
+from spatz.dataset import ArrayLike, Dataset
+from spatz.logger import ArrayLike, Logger
+from spatz.sensors import IMU, Accelerometer, Gyroscope, CoordSystem
+from spatz.transforms import Transform, GaussianNoise
+
+
+class IAM_20380HT(Gyroscope):
+    def __init__(self, dataset: Dataset, logger: Logger,  orientation=np.identity(3), transforms: List[Transform] = []):
+        super().__init__(dataset, logger, orientation, transforms)
+
+    def _get_name(self) -> AnyStr:
+        return 'IAM-20380HT'
+
+    def _sensor_specific_effects(self, x: ArrayLike) -> ArrayLike:
+        return x
+    

spatz/sensors/imu/sca3300.py

@@ -0,0 +1,26 @@
+import numpy as np
+
+from typing import List, AnyStr
+
+from numpy.typing import ArrayLike
+from spatz.dataset import Dataset
+from spatz.logger import Logger
+from spatz.sensors import Accelerometer
+from spatz.transforms import Transform, GaussianNoise
+
+
+class SCA3300(Accelerometer):
+    def __init__(self, dataset: Dataset, logger: Logger, orientation=np.identity(3), offset=0, transforms: List[Transform] = []):
+        super().__init__(dataset, logger, orientation, offset, transforms)
+
+        self.__noise = GaussianNoise(0, 0.001)
+
+    def _get_name(self) -> AnyStr:
+        return 'SCA3300'
+    
+    def _sensor_specific_effects(self, x: ArrayLike) -> ArrayLike:
+        x /= 9.81
+
+        x[0], x[1] = x[1], x[0]
+
+        return self.__noise(0, x)