Classes
LighthouseBsVector
LighthouseBsVector(lh_v1_horiz_angle: float, lh_v1_vert_angle: float)
This class is representing a vector from a base station into space, in the base station reference frame. Typically the intersection of two light planes defined by angles measured by a base station. It also provides functionality to convert between lighthouse V1 angles, V2 angles and cartesian coordinates.
Initialize from lighthouse V1 angles
Parameters
| Name | Description |
|---|---|
| lh_v1_horiz_angle | Horizontal sweep angle, 0 straight forward. Right (seen from the bs) is negative, left is positive |
| lh_v1_vert_angle | Vertical sweep angle, 0 straight forward. Down is negative, up is positive. |
Class variables
T
Static methods
def from_cart(cart_vector: list[float]) ‑> cflib.localization.lighthouse_bs_vector.LighthouseBsVector
Create a LighthouseBsVector object from cartesian coordinates.
Parameters
| Name | Description |
|---|---|
| cart_vector | (x, y, z) to a point |
def from_lh2(lh_v2_angle_1: float, lh_v2_angle_2: float) ‑> cflib.localization.lighthouse_bs_vector.LighthouseBsVector
Create a LighthouseBsVector object from lighthouse V2 angles
Parameters
| Name | Description |
|---|---|
| lh_v2_angle_1 | First sweep angles, 0 straight ahead |
| lh_v2_angle_2 | Second sweep angles, 0 straight ahead |
def from_projection(proj_point: list[float]) ‑> cflib.localization.lighthouse_bs_vector.LighthouseBsVector
Create a LighthouseBsVector object from the projection point on the plane x=1.0
Parameters
| Name | Description |
|---|---|
| projection point | (y, z) |
Instance variables
cart: numpy.ndarray
A normalized vector in cartesian coordinates
lh_v1_angle_pair: tuple
Lightouse V1 angle pair (horiz, vert)
lh_v1_horiz_angle: float
Lightouse V1 horizontal sweep angle
lh_v1_vert_angle: float
Lightouse V1 vertical sweep angle
lh_v2_angle_1: float
Lightouse V2 first sweep angle
lh_v2_angle_2: float
Lightouse V2 second sweep angle
projection: numpy.ndarray
The 2D point (y, z) when projected on the plane x=1.0 (one meter in front of the base station)
LighthouseBsVectors
LighthouseBsVectors(*args, **kwargs)
A list of 4 LighthouseBsVector, one for each sensor. LighthouseBsVectors is essentially the same as list[LighthouseBsVector]
Ancestors (in MRO)
- builtins.list
Methods
def angle_list(self) ‑> numpy.ndarray
Genereate a list of angles for all vectors, the order is horizontal, vertical, horizontal, vertical…
def projection_pair_list(self) ‑> numpy.ndarray
Genereate a list of projection pairs for all vectors