Classes
LhBsCfPoses
LhBsCfPoses(bs_poses: ForwardRef('dict[int, Pose]'), cf_poses: ForwardRef('list[Pose]'))
Represents all poses of base stations and CF samples
Ancestors (in MRO)
- builtins.tuple
Instance variables
bs_poses: dict
Alias for field number 0
cf_poses: list
Alias for field number 1
LhCfPoseSample
LhCfPoseSample(timestamp: float = 0.0, angles_calibrated: dict[int, LighthouseBsVectors] = None)
Represents a sample of a Crazyflie pose in space, it contains various data related to the pose such as:
- lighthouse angles from one or more base stations
- initial estimate of the pose
- refined estimate of the pose
- estimated errors
LhDeck4SensorPositions
LhDeck4SensorPositions()
Positions of the sensors on the Lighthouse 4 deck
Class variables
diagonal_distance
positions
LhMeasurement
LhMeasurement(timestamp: ForwardRef('float'), base_station_id: ForwardRef('int'), angles: ForwardRef('LighthouseBsVectors'))
Represents a measurement from one base station.
Ancestors (in MRO)
- builtins.tuple
Instance variables
angles: cflib.localization.lighthouse_bs_vector.LighthouseBsVectors
Alias for field number 2
base_station_id: int
Alias for field number 1
timestamp: float
Alias for field number 0
Pose
Pose(R_matrix: npt.ArrayLike = array([[1., 0., 0.],
[0., 1., 0.],
[0., 0., 1.]]), t_vec: npt.ArrayLike = array([0., 0., 0.]))
Holds the full pose (position and orientation) of an object. Contains functionality to convert between various formats.
Static methods
def from_quat(R_quat: npt.ArrayLike = array([0., 0., 0., 0.]), t_vec: npt.ArrayLike = array([0., 0., 0.])) ‑> cflib.localization.lighthouse_types.Pose
Create a Pose from a quaternion and translation vector
def from_rot_vec(R_vec: npt.ArrayLike = array([0., 0., 0.]), t_vec: npt.ArrayLike = array([0., 0., 0.])) ‑> cflib.localization.lighthouse_types.Pose
Create a Pose from a rotation vector and translation vector
Instance variables
matrix_vec: tuple
Get the pose as a rotation matrix and translation vector
rot_matrix: numpy.ndarray
Get the rotation matrix of the pose
rot_quat: numpy.ndarray
Get the quaternion of the pose
rot_vec: numpy.ndarray
Get the rotation vector of the pose
translation: numpy.ndarray
Get the translation vector of the pose
Methods
def inv_rotate_translate(self, point: npt.ArrayLike) ‑> numpy.ndarray
Inverse rotate and translate a point, that is transform from global to local reference frame
def inv_rotate_translate_pose(self, pose: "'Pose'") ‑> cflib.localization.lighthouse_types.Pose
Inverse rotate and translate a point, that is transform from global to local reference frame
def rotate_translate(self, point: npt.ArrayLike) ‑> numpy.ndarray
Rotate and translate a point, that is transform from local to global reference frame
def rotate_translate_pose(self, pose: "'Pose'") ‑> cflib.localization.lighthouse_types.Pose
Rotate and translate a pose
def scale(self, scale) ‑> NoneType
quiet