SPATZ migration + proper directory structure

spatz/sensors/imu/wsen_isds.py

@@ -0,0 +1,54 @@
+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