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46 lines
1.6 KiB
Python
46 lines
1.6 KiB
Python
import numpy as np
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from typing import List, AnyStr
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from numpy.typing import ArrayLike
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from spatz.dataset import ArrayLike, Dataset
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from spatz.logger import ArrayLike, Logger
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from spatz.sensors import IMU, Accelerometer, Gyroscope, CoordSystem
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from spatz.transforms import Transform, GaussianNoise
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class BMI088(IMU):
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def __init__(self, dataset: Dataset, logger: Logger, orientation = np.identity(3), offset=0, transforms: List[Transform] = []):
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acc = BMI088Acc(dataset, logger, orientation, offset, transforms)
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gyro = BMI088Gyro(dataset, logger, offset, transforms)
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super().__init__(dataset, logger, acc, gyro, transforms)
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class BMI088Gyro(Gyroscope):
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def __init__(self, dataset: Dataset, logger: Logger, offset: float = 0, transforms: List[Transform] = []):
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super().__init__(dataset, logger, offset, transforms)
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def _get_name(self) -> AnyStr:
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return 'BMI088'
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def _get_data(self) -> ArrayLike:
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rots = self._dataset.fetch_values(['roll_l', 'pitch_l', 'yaw_l'])
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return rots
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def _sensor_specific_effects(self, x: ArrayLike) -> ArrayLike:
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return x
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class BMI088Acc(Accelerometer):
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def __init__(self, dataset: Dataset, logger: Logger, orientation = np.identity(3), offset: float = 0, transforms: List[Transform] = []):
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super().__init__(dataset, logger, CoordSystem.RIGHT_HANDED, orientation, offset, transforms)
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self.__noise = GaussianNoise(0, 0.05)
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def _get_name(self) -> AnyStr:
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return 'BMI088'
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def _sensor_specific_effects(self, x: ArrayLike) -> ArrayLike:
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return self.__noise(0, x) |