NavigationInterpolators

class NavigationInterpolatorLatLon

The NavInterpolator class: Interpolate navigation (lat/lon) values and attitude information and transform the values using the offsets specified in the sensor configuration class

__init__(self: themachinethatgoesping.navigation.NavigationInterpolatorLatLon, sensor_configuration: themachinethatgoesping.navigation.SensorConfiguration, extrapolation_mode: themachinethatgoesping.tools_cppy.vectorinterpolators.t_extr_mode = <t_extr_mode.extrapolate: 0>) → None

Construct a new i navigationinterpolator interface

Parameter sensor_configuration:

sensor configuration used for this navigation interpolator

Parameter extrapolation_mode:

extrapolate, fail or nearest

add_target(*args, **kwargs)

Overloaded function.

1. add_target(self: themachinethatgoesping.navigation.NavigationInterpolatorLatLon, target_id: str, x: float, y: float, z: float, yaw: float, pitch: float, roll: float) -> None

add a target sensor with positional offsets

Parameter target_id:

name of the target sensor

Parameter x:

x position of the sensor in m, positive forward

Parameter y:

y position of the sensor in m, positive starboard

Parameter z:

z position of the sensor in m, positive down

Parameter yaw:

yaw angle of the sensor in °, positive clockwise

Parameter pitch:

pitch angle of the sensor in °, positive is bow up

Parameter roll:

roll angle of the sensor in °, positive is port up

2. add_target(self: themachinethatgoesping.navigation.NavigationInterpolatorLatLon, target_id: str, target_offsets: themachinethatgoesping.navigation.datastructures.PositionalOffsets) -> None

add a target sensor with positional offsets

Parameter target_id:

name of the target sensor

Parameter sensor_offsets:

structure that contains the sensor position

compute_target_position(self: NavigationInterpolatorLatLon, target_id: str, timestamp: float) → GeolocationLatLon

Compute the position of the target “target_id” based on the sensor data for the given timestamp stamp

Parameter target_id:

name of the target (e.g. “MBES”)

Parameter timestamp:

timestamp in seconds since epoch

Returns:

data structure that contains the position of the target in the world coordinate system

copy(self: NavigationInterpolatorLatLon) → NavigationInterpolatorLatLon

return a copy using the c++ default copy constructor

static from_binary(buffer: bytes, check_buffer_is_read_completely: bool = True) → NavigationInterpolatorLatLon

create T_CLASS object from bytearray

get_sensor_configuration(self: NavigationInterpolatorLatLon) → SensorConfiguration

direct reference to the sensor configuration

Returns:

SensorConfiguration&

get_sensor_data(self: NavigationInterpolatorLatLon, timestamp: float) → SensordataLatLon

Interpolate the saved sensor data for a specified timestamp stamp

Parameter timestamp:

timestamp in seconds since epoch

Returns:

data structure that contains the sensor data interpolated for the given timestamp stamp

hash(self: NavigationInterpolatorLatLon) → int

hash function implemented using binary_hash

info_string(self: NavigationInterpolatorLatLon, float_precision: int = 2) → str

Return object information as string

property interpolator_attitude

< interpolator that stores attitude data (pitch and roll)

property interpolator_depth

< interpolator that stores depth data (depth, positive downwards) < [m]

property interpolator_heading

< interpolator that stores compass data (yaw/heading) [°]

property interpolator_heave

< interpolator that stores heave data (relative change in depth, < positive upwards) [m]

property interpolator_latitude

< interpolator for the latitude data

property interpolator_longitude

< interpolator for the longitude data

merge(self: NavigationInterpolatorLatLon, other: NavigationInterpolatorLatLon) → None

Merge data from another interpolator. Only works of the SensorConfiguration is compatible.

Parameter other:

print(self: NavigationInterpolatorLatLon, float_precision: int = 2) → None

Print object information

set_data_attitude(self: NavigationInterpolatorLatLon, timestamp: List[float], pitch: List[float], roll: List[float]) → None

Set the attitude data (no yaw, this is set in set_data_heading)

Parameter timestamp:

in seconds since epoch

Parameter pitch:

in °, positive is bow up

Parameter roll:

in °, positive is port up

set_data_depth(self: NavigationInterpolatorLatLon, timestamp: List[float], depth: List[float]) → None

Set the depth data

Parameter timestamp:

in seconds since epoch

Parameter depth:

in meters, positive downwards

set_data_heading(self: NavigationInterpolatorLatLon, timestamp: List[float], heading: List[float]) → None

Set the compass data

Parameter timestamp:

in seconds since epoch

Parameter heading:

in °, positive clockwise (north is 0°)

set_data_heave(self: NavigationInterpolatorLatLon, timestamp: List[float], heave: List[float]) → None

Set the heave data

Parameter timestamp:

in seconds since epoch

Parameter heave:

in meters, positive upwards

set_data_position(self: NavigationInterpolatorLatLon, timestamp: List[float], latitude: List[float], longitude: List[float]) → None

Set the data of the position system (latitude, longitude)

Parameter timestamp:

in seconds since epoch

Parameter latitude:

latitude in °

Parameter longitude:

longitude in °

set_extrapolation_mode(self: themachinethatgoesping.navigation.NavigationInterpolatorLatLon, extrapolation_mode: themachinethatgoesping.tools_cppy.vectorinterpolators.t_extr_mode = <t_extr_mode.extrapolate: 0>) → None

Set the extrapolation mode for all interpolators

Parameter extrapolation_mode:

extrapolate, fail or nearest

set_sensor_configuration(self: NavigationInterpolatorLatLon, sensor_configuration: SensorConfiguration) → None

slow_hash(self: NavigationInterpolatorLatLon) → int

hash function implemented using slow_hash

to_binary(self: NavigationInterpolatorLatLon, resize_buffer: bool = True) → bytes

convert object to bytearray

class NavigationInterpolatorLocal

The NavInterpolator class: Interpolate navigation (northing/easting no zone specified) values and attitude information and transform the values using the offsets specified in the sensor configuration class

__init__(self: themachinethatgoesping.navigation.NavigationInterpolatorLocal, sensor_configuration: themachinethatgoesping.navigation.SensorConfiguration, extrapolation_mode: themachinethatgoesping.tools_cppy.vectorinterpolators.t_extr_mode = <t_extr_mode.extrapolate: 0>) → None

Construct a new i navigationinterpolator interface

Parameter sensor_configuration:

sensor configuration used for this navigation interpolator

Parameter extrapolation_mode:

extrapolate, fail or nearest

add_target(*args, **kwargs)

Overloaded function.

1. add_target(self: themachinethatgoesping.navigation.NavigationInterpolatorLocal, target_id: str, x: float, y: float, z: float, yaw: float, pitch: float, roll: float) -> None

add a target sensor with positional offsets

Parameter target_id:

name of the target sensor

Parameter x:

x position of the sensor in m, positive forward

Parameter y:

y position of the sensor in m, positive starboard

Parameter z:

z position of the sensor in m, positive down

Parameter yaw:

yaw angle of the sensor in °, positive clockwise

Parameter pitch:

pitch angle of the sensor in °, positive is bow up

Parameter roll:

roll angle of the sensor in °, positive is port up

2. add_target(self: themachinethatgoesping.navigation.NavigationInterpolatorLocal, target_id: str, target_offsets: themachinethatgoesping.navigation.datastructures.PositionalOffsets) -> None

add a target sensor with positional offsets

Parameter target_id:

name of the target sensor

Parameter sensor_offsets:

structure that contains the sensor position

compute_target_position(self: NavigationInterpolatorLocal, target_id: str, timestamp: float) → GeolocationLocal

Compute the position of the target “target_id” based on the sensor data for the given timestamp stamp

Parameter target_id:

name of the target (e.g. “MBES”)

Parameter timestamp:

timestamp in seconds since epoch

Returns:

data structure that contains the position of the target in the world coordinate system

copy(self: NavigationInterpolatorLocal) → NavigationInterpolatorLocal

return a copy using the c++ default copy constructor

static from_binary(buffer: bytes, check_buffer_is_read_completely: bool = True) → NavigationInterpolatorLocal

create T_CLASS object from bytearray

get_sensor_configuration(self: NavigationInterpolatorLocal) → SensorConfiguration

direct reference to the sensor configuration

Returns:

SensorConfiguration&

get_sensor_data(self: NavigationInterpolatorLocal, timestamp: float) → SensordataLocal

Interpolate the saved sensor data for a specified timestamp stamp

Parameter timestamp:

timestamp in seconds since epoch

Returns:

data structure that contains the sensor data interpolated for the given timestamp stamp

hash(self: NavigationInterpolatorLocal) → int

hash function implemented using binary_hash

info_string(self: NavigationInterpolatorLocal, float_precision: int = 2) → str

Return object information as string

property interpolator_attitude

< interpolator that stores attitude data (pitch and roll)

property interpolator_depth

< interpolator that stores depth data (depth, positive downwards) < [m]

property interpolator_easting

< interpolator for the easting data

property interpolator_heading

< interpolator that stores compass data (yaw/heading) [°]

property interpolator_heave

< interpolator that stores heave data (relative change in depth, < positive upwards) [m]

property interpolator_northing

< interpolator for the northing data

merge(self: NavigationInterpolatorLocal, other: NavigationInterpolatorLocal) → None

Merge data from another interpolator. Only works of the SensorConfiguration is compatible.

Parameter other:

print(self: NavigationInterpolatorLocal, float_precision: int = 2) → None

Print object information

set_data_attitude(self: NavigationInterpolatorLocal, timestamp: List[float], pitch: List[float], roll: List[float]) → None

Set the attitude data (no yaw, this is set in set_data_heading)

Parameter timestamp:

in seconds since epoch

Parameter pitch:

in °, positive is bow up

Parameter roll:

in °, positive is port up

set_data_depth(self: NavigationInterpolatorLocal, timestamp: List[float], depth: List[float]) → None

Set the depth data

Parameter timestamp:

in seconds since epoch

Parameter depth:

in meters, positive downwards

set_data_heading(self: NavigationInterpolatorLocal, timestamp: List[float], heading: List[float]) → None

Set the compass data

Parameter timestamp:

in seconds since epoch

Parameter heading:

in °, positive clockwise (north is 0°)

set_data_heave(self: NavigationInterpolatorLocal, timestamp: List[float], heave: List[float]) → None

Set the heave data

Parameter timestamp:

in seconds since epoch

Parameter heave:

in meters, positive upwards

set_data_position(self: NavigationInterpolatorLocal, timestamp: List[float], northing: List[float], easting: List[float]) → None

Set the data of the position system (northing, easting)

Parameter timestamp:

in seconds since epoch

Parameter northing:

northing in meters

Parameter easting:

easting in meters

set_extrapolation_mode(self: themachinethatgoesping.navigation.NavigationInterpolatorLocal, extrapolation_mode: themachinethatgoesping.tools_cppy.vectorinterpolators.t_extr_mode = <t_extr_mode.extrapolate: 0>) → None

Set the extrapolation mode for all interpolators

Parameter extrapolation_mode:

extrapolate, fail or nearest

set_sensor_configuration(self: NavigationInterpolatorLocal, sensor_configuration: SensorConfiguration) → None

slow_hash(self: NavigationInterpolatorLocal) → int

hash function implemented using slow_hash

to_binary(self: NavigationInterpolatorLocal, resize_buffer: bool = True) → bytes

convert object to bytearray