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Current state of the simulation

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dario
2024-04-04 15:22:50 +02:00
committed by dario
parent 828af75fe3
commit dedd445470
4 changed files with 49 additions and 15 deletions
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8
spatz/sensors/imu/bhi160.py
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@@ -1,10 +1,12 @@
import numpy as np
from typing import List, AnyStr
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
from spatz.transforms import Transform, GaussianNoise
class BHI160Gyro(Gyroscope):
@@ -27,8 +29,10 @@ class BHI160Acc(Accelerometer):
def __init__(self, dataset: Dataset, logger: Logger, offset: float = 0, transforms: List[Transform] = []):
super().__init__(dataset, logger, offset, transforms)
self.__noise = GaussianNoise(0, 0.05)
def _get_name(self) -> AnyStr:
return 'BHI160'
def _sensor_specific_effects(self, x: ArrayLike) -> ArrayLike:
return x
return self.__noise(0, x)