Classes
BsPairIds
BsPairIds(bs1: ForwardRef('int'), bs2: ForwardRef('int'))
A type representing the ids of a pair of base stations
Ancestors (in MRO)
- builtins.tuple
Instance variables
bs1: int
Alias for field number 0
bs2: int
Alias for field number 1
LighthouseInitialEstimator
LighthouseInitialEstimator()
Make initial estimates of base station and CF poses using IPPE (analytical solution). The estimates are not good enough to use for flight but is a starting point for further calculations.
Class variables
AMBIGUOUS_DETECTION_ERROR
Static methods
def estimate(matched_samples: list[LhCfPoseSampleWrapper], solution: LighthouseGeometrySolution) ‑> list[cflib.localization.lighthouse_cf_pose_sample.LhCfPoseSampleWrapper]
Make a rough estimate of the poses of all base stations and CF poses found in the samples.
The pose of the Crazyflie in the first sample is used as a reference and will define the global reference frame.
Parameters
| Name | Description |
|---|---|
| matched_samples | A list of samples with lighthouse angles. It is assumed that all samples have data for two or more base stations. Note: matched_samples is a subset of solution.samples. |
| solution | A LighthouseGeometrySolution object to store progress information and issues in:return: a subset of the matched_samples where ambiguous samples are removed. |