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64 lines
1.9 KiB
Python
64 lines
1.9 KiB
Python
import numpy as np
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from typing import AnyStr, List
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from numpy.typing import ArrayLike
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from spatz.sensors import Accelerometer, Gyroscope, IMU, CoordSystem
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from spatz.transforms import Transform, GaussianNoise
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from spatz.simulations.data_source import DataSource
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from spatz.dataset import Dataset
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from spatz.logger import Logger
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class WSEN_ISDS(IMU):
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pass
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class WSEN_ISDS_ACC(Accelerometer):
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def __init__(self, dataset: DataSource, logger: Logger, orientation=np.identity(3), offset=0, transforms: List[Transform] = []):
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super().__init__(dataset, logger, CoordSystem.LEFT_HANDED, orientation, offset, transforms)
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self.__variance = 0.05
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self.__noise = GaussianNoise(np.zeros(3), np.identity(3) * self.__variance)
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def _get_name(self) -> AnyStr:
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return 'WSEN_ISDS_ACC'
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def _sensor_specific_effects(self, x: ArrayLike) -> ArrayLike:
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t = self._dataset.get_time()
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# Apply noise to the true values.
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y = self.__noise(t, x)
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noise = y - x
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# Log the chosen noise values.
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self._logger.write('acc_x_noise', noise[0], self._get_name())
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self._logger.write('acc_y_noise', noise[1], self._get_name())
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self._logger.write('acc_z_noise', noise[2], self._get_name())
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# The WSEN-ISDS accelerometer only measures acceleration between -16g and 16g.
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g = 9.81
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y = np.clip(y, -16*g, +16*g)
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return y
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class WSEN_ISDS_GYRO(Gyroscope):
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def __init__(self, dataset: Dataset, logger: Logger, offset=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 'WSEN_ISDS_GYRO'
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def _sensor_specific_effects(self, x: ArrayLike) -> ArrayLike:
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# Convert to degrees per second.
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x = (x / np.pi) * 180
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# TODO: Noise model.
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self._log('ox', x[0])
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self._log('oy', x[1])
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self._log('oz', x[2])
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return x
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