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39 lines
1.1 KiB
Python
39 lines
1.1 KiB
Python
import numpy as np
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from typing import List, AnyStr
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from numpy.core.numeric import identity as identity
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from numpy.typing import ArrayLike, NDArray
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from spatz.dataset import Dataset
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from spatz.simulations.data_source import DataSource
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from spatz.logger import Logger
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from spatz.sensors import Accelerometer, CoordSystem
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from spatz.transforms import Transform
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class H3LIS100DL(Accelerometer):
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def __init__(self, dataset: DataSource, logger: Logger, orientation=np.identity(3), offset: float = 0, transforms: List[Transform] = []):
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super().__init__(dataset, logger, orientation, offset, transforms)
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def _get_name(self) -> AnyStr:
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return "H3LIS100DL"
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def _sensor_specific_effects(self, x: ArrayLike) -> ArrayLike:
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# The sensor only measures values between -100g and +100g and in g/LSB.
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g = 9.81
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x = np.floor(np.clip(x, -100*g, +100*g) / g)
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for i in range(3):
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value = np.random.random()
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if (value < 0.1):
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x[i] += 1
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if (value > 0.9):
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x[i] -= 1
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return x
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