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31 lines
891 B
Python
31 lines
891 B
Python
import numpy as np
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from numpy.typing import ArrayLike
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from typing import List
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from spatz.sensors import Sensor
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from spatz.transforms import Transform
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from spatz.simulations.data_source import DataSource
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from spatz.logger import Logger
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class Gyroscope(Sensor):
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def __init__(self, dataset: DataSource, logger: Logger, orientation=np.identity(3), transforms: List[Transform] = []):
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super().__init__(dataset, logger, transforms)
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self._orientation = orientation
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def calibrate(self, n_samples):
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return np.sum(self() for i in range(n_samples)) / n_samples
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def _get_data(self) -> ArrayLike | float:
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# Rotation in rad/sec
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omegas = self._dataset.get_angular_velocity()
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omegas = self._orientation @ omegas
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self._log('ox', omegas[0])
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self._log('oy', omegas[1])
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self._log('oz', omegas[2])
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return omegas
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