SPATZ migration + proper directory structure

spatz/sensors/imu/__init__.py

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+from accelerometer import Accelerometer
+from gyroscope import Gyroscope

spatz/sensors/imu/accelerometer.py

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+import numpy as np
+
+from typing import List
+from numpy.typing import ArrayLike
+
+from spatz.sensors import Sensor
+from spatz.transforms import Transform
+from spatz.dataset import Dataset
+from spatz.logger import Logger
+
+
+__all__=[
+    'Accelerometer'
+]
+
+
+# Local definition of gravitation
+g = 9.81
+
+
+class Accelerometer(Sensor):
+    def __init__(self, dataset: Dataset, logger: Logger, offset: float = 0, transforms: List[Transform] = []):
+        super().__init__(dataset, logger, transforms)
+
+        self._offset = np.array([offset, 0, 0])
+
+    def _get_data(self) -> ArrayLike | float:
+        acc = self._dataset.get_acceleration(frame='FL')
+        acc += np.array([0, 0, g])
+
+        self._logger.write('FL_x', acc[0], self._get_name())
+        self._logger.write('FL_y', acc[1], self._get_name())
+        self._logger.write('FL_z', acc[2], self._get_name())
+
+        # Convert FL to body
+        acc = self._dataset.launch_rail_to_body() @ acc
+
+        self._logger.write('B_x', acc[0], self._get_name())
+        self._logger.write('B_y', acc[1], self._get_name())
+        self._logger.write('B_z', acc[2], self._get_name())
+
+        # Flip axes to sensor's perspective.
+        acc *= -1
+
+        # Add the effects of the imu's offset.
+        omega = self._dataset.get_angular_velocities()
+        acc += (np.cross(omega, self._offset) + np.cross(omega, np.cross(omega, self._offset)))
+
+        return acc
+    

spatz/sensors/imu/gyroscope.py

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+from numpy.typing import ArrayLike
+from typing import List
+
+from spatz.sensors import Sensor
+from spatz.transforms import Transform
+from spatz.dataset import Dataset
+from spatz.logger import Logger
+
+
+class Gyroscope(Sensor):
+    def __init__(self, dataset: Dataset, logger: Logger, offset: float = 0, transforms: List[Transform] = []):
+        super().__init__(dataset, logger, transforms)
+
+        self._offset = offset
+
+    def _get_data(self) -> ArrayLike | float:
+        # Rotation in rad/sec
+        x = self._dataset.get_rotation_rates()
+
+        return x

spatz/sensors/imu/imu.py

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+from typing import List
+from spatz.dataset import Dataset, List
+from spatz.logger import Logger
+from spatz.sensors import CompoundSensor, Accelerometer, Gyroscope
+from spatz.sensors.sensor import Sensor
+from spatz.transforms import Transform
+
+
+class IMU(CompoundSensor):
+    def __init__(self, 
+                 dataset: Dataset, 
+                 logger: Logger, 
+                 acc: Accelerometer, 
+                 gyro: Gyroscope,
+                 transforms: List[Transform] = []):
+        """_summary_
+
+        Args:
+            dataset (Dataset): _description_
+            logger (Logger): _description_
+            acc (Accelerometer): _description_
+            gyro (Gyroscope): _description_
+            transforms (List[Transform], optional): _description_. Defaults to [].
+        """
+        super().__init__(dataset, logger, [acc, gyro], transforms)

spatz/sensors/imu/wsen_isds.py

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+import numpy as np
+
+from typing import AnyStr, List
+from numpy.typing import ArrayLike
+
+from spatz.sensors import Accelerometer, Gyroscope, IMU
+from spatz.transforms import Transform, GaussianNoise
+from spatz.dataset import Dataset
+from spatz.logger import Logger
+
+
+class WSEN_ISDS(IMU):
+    pass
+
+
+class WSEN_ISDS_ACC(Accelerometer):
+    def __init__(self, dataset: Dataset, logger: Logger, offset: float, transforms: List[Transform] = []):
+        super().__init__(dataset, logger, offset, transforms)
+
+        self.__variance = 0.05
+        self.__noise = GaussianNoise(np.zeros(3), np.identity(3) * self.__variance)
+
+    def _get_name(self) -> AnyStr:
+        return 'WSEN_ISDS'
+
+    def _sensor_specific_effects(self, x: ArrayLike) -> ArrayLike:
+        t = self._dataset.get_time()
+
+        # Apply noise to the true values.
+        y = self.__noise(t, x)
+        noise = y - x
+
+        # Log the chosen noise values.
+        self._logger.write('acc_x_noise', noise[0], self._get_name())
+        self._logger.write('acc_y_noise', noise[1], self._get_name())
+        self._logger.write('acc_z_noise', noise[2], self._get_name())
+
+        return y
+    
+
+class WSEN_ISDS_GYRO(Gyroscope):
+    def __init__(self, dataset: Dataset, logger: Logger, offset: float, transforms: List[Transform] = []):
+        super().__init__(dataset, logger, offset, transforms)
+
+    def _get_name(self) -> AnyStr:
+        return 'WSEN_ISDS'
+
+    def _sensor_specific_effects(self, x: ArrayLike) -> ArrayLike:
+        # Convert to degrees per second.
+        x = (x / np.pi) * 180
+
+        # TODO: Noise model.
+
+        return x