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.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
- Parameter
- add_target(*args, **kwargs)
Overloaded function.
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
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
- Parameter
- 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
- Parameter
- 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, ythis 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
- Parameter
- 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
- Parameter
- 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°)
- Parameter
- 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
- Parameter
- 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 °
- Parameter
- set_extrapolation_mode(self: themachinethatgoesping.navigation.NavigationInterpolatorLatLon, extrapolation_mode: themachinethatgoesping.tools.vectorinterpolators.t_extr_mode = <t_extr_mode.extrapolate: 0>) → None
Set the extrapolation mode for all interpolators
- Parameter
extrapolation_mode
: extrapolate, fail or nearest
- Parameter
- set_sensor_configuration(self: NavigationInterpolatorLatLon, sensor_configuration: SensorConfiguration) → None
- 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.vectorinterpolators.t_extr_mode = <t_extr_mode.extrapolate: 0>) → None
Construct a new i navigationinterpolator interface
- Parameter
extrapolation_mode
: extrapolate, fail or nearest
- Parameter
- add_target(*args, **kwargs)
Overloaded function.
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
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
- Parameter
- 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
- Parameter
- 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, ythis 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
- Parameter
- 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
- Parameter
- 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°)
- Parameter
- 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
- Parameter
- 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
- Parameter
- set_extrapolation_mode(self: themachinethatgoesping.navigation.NavigationInterpolatorLocal, extrapolation_mode: themachinethatgoesping.tools.vectorinterpolators.t_extr_mode = <t_extr_mode.extrapolate: 0>) → None
Set the extrapolation mode for all interpolators
- Parameter
extrapolation_mode
: extrapolate, fail or nearest
- Parameter
- set_sensor_configuration(self: NavigationInterpolatorLocal, sensor_configuration: SensorConfiguration) → None
- to_binary(self: NavigationInterpolatorLocal, resize_buffer: bool = True) → bytes
convert object to bytearray