From b9ffa3710b9f28ee726b21a69d4ebc23e9d4524b Mon Sep 17 00:00:00 2001 From: dario Date: Sat, 30 Dec 2023 12:55:08 +0100 Subject: [PATCH] Added BHI160 gyro for STAHR --- spatz/sensors/imu/bhi160.py | 20 ++++++++++++++++++++ 1 file changed, 20 insertions(+) create mode 100644 spatz/sensors/imu/bhi160.py diff --git a/spatz/sensors/imu/bhi160.py b/spatz/sensors/imu/bhi160.py new file mode 100644 index 0000000..1d3fb58 --- /dev/null +++ b/spatz/sensors/imu/bhi160.py @@ -0,0 +1,20 @@ +from typing import List + +from numpy.typing import ArrayLike +from spatz.dataset import ArrayLike, Dataset +from spatz.logger import ArrayLike, Logger +from spatz.sensors import IMU, Accelerometer, Gyroscope +from spatz.transforms import Transform + + +class BHI160Gyro(Gyroscope): + def __init__(self, dataset: Dataset, logger: Logger, offset: float = 0, transforms: List[Transform] = ...): + super().__init__(dataset, logger, offset, transforms) + + def _get_data(self) -> ArrayLike: + rots = self._dataset.fetch_values(['roll_l', 'pitch_l', 'yaw_l']) + + + + def _sensor_specific_effects(self, x: ArrayLike) -> ArrayLike: + return x