SPATZ migration + proper directory structure

spatz/sensors/imu/accelerometer.py

@@ -0,0 +1,50 @@
+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
+