Added more sensors for STAHR

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)